阅读说明：本技术 一种带操控杆的平衡车 (Balance car with control rod ) 是由 聂爱琴 朱可可 于 2021-10-18 设计创作，主要内容包括：本发明公开了一种带操控杆的平衡车,包括车壳、整车控制组件、固定在所述车壳两侧的车轮、操控杆、连接组件、传动组件,所述操控杆设置于所述车壳前侧或后侧,所述连接组件、所述传动组件和所述整车控制组件均设置在所述车壳内,所述连接组件分别与操控杆的底部以及传动组件连接,两侧的所述车轮上分别设置有轮毂电机。本发明带操控杆的平衡车结构简单、装配控制方便,控制精度高。(The invention discloses a balance car with a control rod, which comprises a car shell, a whole car control assembly, wheels fixed on two sides of the car shell, the control rod, a connecting assembly and a transmission assembly, wherein the control rod is arranged on the front side or the rear side of the car shell, the connecting assembly, the transmission assembly and the whole car control assembly are all arranged in the car shell, the connecting assembly is respectively connected with the bottom of the control rod and the transmission assembly, and the wheels on two sides are respectively provided with a hub motor. The balance car with the operating rod is simple in structure, convenient to assemble and control and high in control precision.)

1. The utility model provides a take balance car of control lever, includes car shell, whole car control assembly, fixes wheel, control lever, coupling assembling, the drive assembly of car shell both sides, the control lever set up in car shell front side or rear side, coupling assembling drive assembly with whole car control assembly all sets up in the car shell, coupling assembling is connected with the bottom and the drive assembly of control lever respectively, both sides be provided with in-wheel motor, its characterized in that on the wheel respectively:

the whole vehicle control assembly comprises a steering information module and a control and drive module;

the steering information module comprises a left steering information unit and a right steering information unit which are symmetrically arranged and is used for collecting left steering information, right steering information and vehicle body deflection angle information of the control rod;

the control and drive module comprises a main control chip electrically connected with the steering information module, a sensor unit and a drive unit electrically connected with the main control chip and used for driving the hub motor to move according to the information collected by the steering information module and the sensor unit;

the control rod acquires control information of an operator and drives the transmission assembly to act according to the control information, and the transmission assembly drives the left steering information unit and the right steering information unit to rotate;

the left steering information unit and the right steering information unit respectively comprise a gyroscope and a bracket for mounting the gyroscope, and the transmission assembly is abutted against the bracket so that the control rod drives the bracket to rotate through the connecting assembly and the transmission assembly;

the sensor unit comprises an acceleration sensor for detecting the acceleration of the balance car and a Hall sensor arranged in the hub motor for detecting the rotating speed of the motor.

2. The balance car with the joystick as claimed in claim 1, wherein: the control and drive module also comprises a left control module connected with the left steering information unit and a right control module connected with the right steering information unit; the left control module and the right control module are respectively arranged on the circuit boards where the left steering information unit and the right steering information unit are located to form a left controller and a right controller.

3. The balance vehicle with the joystick according to claim 1 or 2, wherein: the driving unit is a PWM driving unit which drives the hub motor through a motor driving module; the motor driving module is electrically connected with the current acquisition module and used for enabling the current acquisition module to acquire the current information of the hub motor and transmit the current information to the main control chip.

4. The balance car with the joystick as claimed in claim 3, wherein: the Bluetooth module and the power management module are electrically connected with the control and driving module.

5. The balance vehicle with the joystick according to any one of claims 1 to 4, wherein: coupling assembling includes axis of rotation, bearing and mounting, the mounting set up in the outside of axis of rotation, the bearing set up in the both ends of axis of rotation, the bottom of control lever with axis of rotation fixed connection.

6. The balance car with the joystick as claimed in claim 5, wherein: the transmission assembly comprises connecting rods, the two sides of each connecting rod are provided with cross beams, a through hole is formed in the middle of each connecting rod, the through holes are connected with the rotating shafts, the cross beams are abutted to the supports of the gyroscopes, and the connecting rods drive the left steering information unit and the right steering information unit to rotate through the cross beams.

7. The balance car with the joystick as claimed in claim 5, wherein: the transmission assembly is a planetary gear mechanism, and two sides of the planetary gear mechanism are provided with cross beams; the control rod is connected with the planetary gear mechanism and drives the planetary gear mechanism to drive the left steering information unit and the right steering information unit to rotate through the cross beams on the two sides.

8. The balance car steering mechanism according to claim 7, wherein: the planetary gear mechanism comprises a planet carrier, a sun gear, a plurality of planetary gears and a gear ring fixedly connected with the planet carrier, and the sun gear is arranged in the planet carrier and connected with the rotating shaft; a plurality of planetary gear evenly distributed be in the circumference of sun gear, and with the internal tooth surface meshing of ring gear, the both sides of ring gear are equipped with the crossbeam.

9. The balance car with the joystick as claimed in claim 5, wherein: the transmission assembly is a conical gear mechanism, the conical gear mechanism comprises a conical gear column and two conical gear rims which are symmetrically arranged relative to the conical gear column, one end of the conical gear column is connected with the rotating shaft, and the other end of the conical gear column is provided with a conical gear; the two conical gear rims are respectively meshed with the conical gears so as to drive the left steering information unit and the right steering information unit to rotate.

10. The balance car with the joystick of claim 9, wherein: the two conical gear rims are of fan-shaped structures and are symmetrically arranged on the two supports respectively, and the two supports are vertically arranged.

Technical Field

The invention relates to the technical field of balance cars, in particular to a balance car with a control rod.

Background

The balance car is taken as the most popular current tool for riding instead of walk, and has the advantages of environmental friendliness, flexibility, simplicity in operation, convenience in storage and carrying and the like, and is deeply loved by young people.

At present, most of balance cars with control rods in the market control the steering of the balance cars by controlling the control rods, the steering condition of the balance cars is generally monitored by a gyroscope of the balance cars, usually, the gyroscope is fixed on a control panel, then, the control panel and a car body are completely fixed, and a control module in a control system controls the steering of the balance cars by a main control chip arranged on the control panel according to position information fed back by the gyroscope and the rotating angle of a rotating mechanism detected by an angle sensor. When the steering mechanism moves, the magnet is driven to enable a magnetic field formed by the magnet to rotate along with the rotating shaft, or the Hall sensor rotates along with the rotating shaft, so that the magnetic field applied to the Hall sensor is changed, and finally, the Hall voltage output by the Hall sensor is changed, and the steering angle of the steering mechanism is obtained.

However, when the balance car is controlled based on the above mode, the magnetic poles of the magnets need to correspond to the hall sensor, the assembly difficulty is high, signals for controlling steering need to be converted, the control accuracy is reduced, the balance car is not controlled accurately enough, and the safety of the balance car in the use process is affected.

Therefore, it is necessary to improve the control system and the structural design of the balance car with the control rod, so that the balance car has a simple structure, is convenient to assemble and control, and improves the control precision.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a balance vehicle with a joystick with an improved control system and structural design.

In order to achieve the purpose, the invention adopts the technical scheme that:

a balance car with a control rod comprises a car shell, a whole car control assembly, wheels fixed on two sides of the car shell, the control rod, a connecting assembly and a transmission assembly, wherein the control rod is arranged on the front side or the rear side of the car shell;

the whole vehicle control assembly comprises a steering information module and a control and drive module;

the steering information module comprises a left steering information unit and a right steering information unit which are symmetrically arranged and is used for collecting left steering information, right steering information and vehicle body deflection angle information of the control rod;

the control and drive module comprises a main control chip electrically connected with the steering information module, a sensor unit and a drive unit electrically connected with the main control chip and used for driving the hub motor to move according to the information collected by the steering information module and the sensor unit;

the control rod acquires control information of an operator and drives the transmission assembly to act according to the control information, and the transmission assembly drives the left steering information unit and the right steering information unit to rotate;

the left steering information unit and the right steering information unit respectively comprise a gyroscope and a bracket for mounting the gyroscope, and the transmission assembly is abutted against the bracket so that the control rod drives the bracket to rotate through the connecting assembly and the transmission assembly;

the sensor unit comprises an acceleration sensor for detecting the acceleration of the balance car and a Hall sensor arranged in the hub motor for detecting the rotating speed of the motor.

As a further improvement of the present invention, the control and drive module further comprises a left control module connected to the left steering information unit and a right control module connected to the right steering information unit; the left control module and the right control module are respectively arranged on the circuit boards where the left steering information unit and the right steering information unit are located to form a left controller and a right controller.

As a further improvement of the present invention, the driving unit is a PWM driving unit, and the PWM driving unit drives the hub motor through a motor driving module; the motor driving module is electrically connected with the current acquisition module and used for enabling the current acquisition module to acquire the current information of the hub motor and transmit the current information to the main control chip.

As a further improvement of the invention, the balance car with the control rod further comprises a Bluetooth module and a power supply management module, wherein the Bluetooth module and the power supply management module are both electrically connected with the control and driving module.

As a further improvement of the present invention, the connecting assembly includes a rotating shaft, bearings, and fixing members, the fixing members are disposed outside the rotating shaft, the bearings are disposed at both ends of the rotating shaft, and the bottom end of the operating lever is fixedly connected to the rotating shaft.

As a further improvement of the invention, the transmission assembly comprises a connecting rod, the two sides of the connecting rod are provided with cross beams, the middle of the connecting rod is provided with a through hole, the through hole is connected with the rotating shaft, the cross beams are abutted against a bracket of the gyroscope, and the control rod drives the connecting rod to drive the left steering information unit and the right steering information unit to rotate through the cross beams.

As a further improvement of the invention, the transmission component is a planetary gear mechanism, and two sides of the planetary gear mechanism are provided with cross beams; the control rod is connected with the planetary gear mechanism and drives the planetary gear mechanism to drive the left steering information unit and the right steering information unit to rotate through the cross beams on the two sides.

As a further improvement of the present invention, the planetary gear mechanism includes a planet carrier, a sun gear, a plurality of planet gears and a ring gear fixedly connected with the planet carrier, the sun gear is arranged in the planet carrier and connected with the rotating shaft; a plurality of planetary gear evenly distributed be in the circumference of sun gear, and with the internal tooth surface meshing of ring gear, the both sides of ring gear are equipped with the crossbeam.

As a further improvement of the invention, the transmission assembly is a bevel gear mechanism, the bevel gear mechanism comprises a bevel gear column and two bevel gear rims symmetrically arranged relative to the bevel gear column, one end of the bevel gear column is connected with the rotating shaft, and the other end of the bevel gear column is provided with a bevel gear; the two conical gear rims are respectively meshed with the conical gears so as to drive the left steering information unit and the right steering information unit to rotate.

As a further improvement of the invention, the two conical gear rims are both of sector structures and are respectively and symmetrically arranged on the two brackets, and the two brackets are both vertically arranged.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the steering information module is set as the left steering information unit and the right steering information unit, the bottom of the control rod is connected with the transmission part through the rotating shaft, and the transmission part is abutted against each steering information unit, so that the assembly difficulty of the balance car can be reduced, the position change of the steering information units can be directly realized by using the transmission part, the conversion times of steering signals are reduced, the control precision is improved, and the accurate control of the balance car is realized.

2. The left control module and the right control module can be respectively arranged on the circuit boards where the left steering information unit and the right steering information unit are arranged, or can be independently arranged on one circuit board; meanwhile, the gyroscope and the acceleration sensor can be integrated into a whole, and can also be made into mutually independent sensors; in addition, the Bluetooth module, the display screen module, the indicator light module, the buzzer module and other functional modules can be electrically connected with the control and driving module through interfaces according to actual conditions. Based on the setting mode, the control system provided by the invention has flexible and changeable design forms, and is beneficial to enriching the functions of the balance car so as to meet the user requirements under different situations.

3. According to the invention, two gyroscopes are arranged and then fixed on the support, the supports on two sides are symmetrically arranged, the support is driven to rotate under the action of the transmission assembly, the positions of the gyroscopes on the support are correspondingly changed, the main control chip responds after detecting the relative inclination angles of the two gyroscopes, and steering is controlled, so that the structure of the steering mechanism is optimized, the assembly difficulty is reduced, meanwhile, the transmission assembly directly acts to change the positions of the two gyroscopes, the steering signal conversion times are reduced, and the control is more accurate.

Drawings

FIG. 1 is an overall block diagram of the present invention;

FIG. 2 is an internal structure of the first embodiment of the invention;

FIG. 3 is a control schematic of the present invention;

FIG. 4 is a partial exploded view of the first embodiment of the present invention;

FIG. 5 is a diagram of the transmission assembly of the first embodiment of the present invention;

FIG. 6 is an exploded view of the first embodiment of the present invention;

FIG. 7 is a right side view and a partial enlarged view of the first embodiment of the present invention;

FIG. 8 is a partial internal structural view of the first embodiment of the present invention;

FIG. 9 is a partial cross-sectional view of the first embodiment of the present invention;

FIG. 10 is an exploded view of a second embodiment of the present invention;

FIG. 11 is an internal structural view of a second embodiment of the present invention;

FIG. 12 is a schematic view of a transmission assembly of a second embodiment of the present invention;

FIG. 13 is an exploded view of a third embodiment of the present invention;

FIG. 14 is an internal structural view of a third embodiment of the present invention;

fig. 15 is a partially enlarged view of the third embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.

In addition, it is also to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The first embodiment:

referring to the drawings, the invention provides a balance car with a control rod, which comprises a car shell 1, a whole car control assembly 2, wheels 3 fixed on two sides of the car shell, a control rod 4, a connecting assembly and a transmission assembly, wherein the control rod 4 is arranged on the front side or the rear side of the car shell 1, the connecting assembly, the transmission assembly and the whole car control assembly are all arranged in the car shell 1, the connecting assembly is respectively connected with the bottom of the control rod 4 and the transmission assembly, the wheels 3 on two sides are respectively provided with a hub motor 31, and the whole car control assembly 2 comprises a steering information module and a control and drive module;

the steering information module comprises a left steering information unit 21 and a right steering information unit 22 which are symmetrically arranged and used for collecting left steering information, right steering information and vehicle body deflection angle information of the control rod 4;

the control and drive module comprises a main control chip electrically connected with the steering information module, and a sensor unit and a drive unit electrically connected with the main control chip, and is used for driving the hub motor 31 to move according to the information collected by the steering information module and the sensor unit;

the control rod 4 acquires control information of an operator and drives the transmission assembly to act according to the control information, and the transmission assembly drives the left steering information unit 21 and the right steering information unit 22 to rotate;

the left steering information unit 21 and the right steering information unit 22 both include a gyroscope 211 and a bracket 212 for mounting the gyroscope, and the transmission assembly abuts against the bracket 212, so that the control rod 4 drives the bracket 212 to rotate back and forth around a connecting shaft of the bracket through the connecting assembly and the transmission assembly;

the sensor unit comprises an acceleration sensor for detecting the acceleration of the balance car and a Hall sensor arranged in the wheel hub motor 31 for detecting the rotating speed of the motor.

Based on the arrangement mode, when the control rod 4 is positioned in the middle, the left steering information unit 21 and the right steering information unit 22 are relatively parallel to the vehicle body, the balance vehicle moves forwards and straightly when the vehicle body inclines forwards, and the balance vehicle moves backwards and straightly when the vehicle body inclines backwards; when the control rod 4 rotates leftwards, the control rod 4 drives the transmission assembly to rotate leftwards through the connecting assembly, so that one end of the transmission assembly, which is abutted to the right support 212, is lifted, the right steering information unit 22 is driven to rotate, the movement of the right steering information unit 22 can send steering information and vehicle body deflection angle information of the control rod 4 to the main control chip through the position change of the right gyroscope 211, the main control chip drives the hub motor 31 on the right side to rotate forwards, and then the wheel 3 on the right side is driven to rotate forwards, so that the left steering of the balance vehicle is realized; on the contrary, when the control rod 4 rotates to the right, the left steering information unit 21 can be driven to move according to the same transmission relationship, so that the main control chip drives the left wheel hub motor 31 to rotate forwards, and the right rotation of the balance car is realized. The arrangement mode can reduce the assembly difficulty of the balance car, can directly change the position of the steering information unit through the steering of the control rod 4, reduces the conversion times of steering signals, improves the control precision and is beneficial to realizing the accurate control of the balance car.

The control and drive module further comprises a left control module connected with the left steering information unit 21 and a right control module connected with the right steering information unit 22; the left control module and the right control module are respectively arranged on the circuit board where the left steering information unit 21 and the right steering information unit 22 are arranged, so as to form a left controller 131 and a right controller. In another embodiment of the present invention, the left control module and the right control module are separately disposed on a circuit board and electrically connected to the left steering information unit 21 and the right steering information unit 22 through interfaces, respectively.

The driving unit is a PWM driving unit which drives the hub motor 31 through a motor driving module; the motor driving module is electrically connected with the current acquisition module and used for enabling the current acquisition module to acquire the current information of the hub motor and transmit the current information to the main control chip.

The left control module comprises a first main control chip electrically connected with the left gyroscope 211, and a left acceleration sensor, a left hall sensor and a left PWM driving unit electrically connected with the first main control chip. The left acceleration sensor and the left gyroscope 211 can be integrated into a whole, or can form two independent sensors with the left gyroscope 211, and the two independent sensors are respectively electrically connected with the first main control chip and used for detecting the acceleration of the balance car; the left Hall sensor is arranged in the left wheel hub motor 31 and used for detecting the rotating speed of the left wheel hub motor 31; the left PWM driving unit is used for driving the left wheel hub motor 31 through the left motor driving module; the first main control chip performs corresponding operation according to information input by the left gyroscope, the left acceleration sensor and the left hall sensor, and outputs an instruction to the left PWM driving unit to control the movement of the left wheel hub motor 31. In other embodiments of the present invention, the left motor driving module is further electrically connected to the left current collecting module, and is configured to enable the left current collecting module to collect current information of the left hub motor 31 and transmit the current information to the first main control chip.

The right control module comprises a second main control chip, a right acceleration sensor, a right Hall sensor, a right PWM (pulse-width modulation) driving unit, a right motor driving module and a right current collecting module which are in one-to-one correspondence with all elements in the left control module, the functions of all the elements are consistent with corresponding elements in the left control module and are symmetrically arranged with the left control module, and the right control module is used for acquiring information of the right gyroscope 211 and the hub motor 31 on the right side and driving the hub motor 31 on the right side.

The vehicle control assembly 2 further comprises a bluetooth module 7 electrically connected with the first main control chip or the second main control chip in the control and drive module, and the bluetooth module 7 is used for data communication with an external bluetooth device (such as a mobile phone). Based on the setting mode, the control and drive module can control interaction modes such as a car lamp, a movement mode and a power mode of the balance car according to the mobile phone input information acquired by the Bluetooth module 7, can also send information parameters such as electric quantity and speed of the balance car to the mobile phone through the Bluetooth module, and can also acquire audio information input by the mobile phone through the Bluetooth module 7 and play the audio information through a loudspeaker arranged in the balance car.

The whole vehicle control assembly 2 further comprises a power management module electrically connected with the first main control chip or the second main control chip in the control and drive module, and the power management module is used for providing power for the balance vehicle and acquiring the electric quantity information of the balance vehicle. The power management module is connected with the power supply 8, the switch and the charging port respectively so as to charge the power supply and correspondingly control the connection and disconnection of the circuit. In one embodiment of the invention, the power supply 8 consists of several rechargeable batteries.

The whole vehicle control assembly 2 further comprises an inductive switch, a display screen module, an indicator light module and a buzzer module which are electrically connected with the first main control chip or the second main control chip in the control and drive module and are respectively used for controlling the starting or stopping of the balance vehicle, controlling the display of parameter information on the display screen 6, controlling the opening and closing of corresponding indicator lights and controlling the opening or closing of corresponding alarm sounds, so that the functions of the balance vehicle can be enriched to meet the user requirements under different conditions.

Specifically, the connecting assembly includes a rotating shaft 112, bearings 110 and fixing members 111, the fixing members 111 are disposed at the outer side of the rotating shaft 112, the bearings 110 are disposed at both ends of the rotating shaft 112, and the bottom end of the control lever 4 is fixedly connected to the rotating shaft 112.

In this embodiment, the transmission assembly includes the connecting rod 120 that both sides are provided with the crossbeam, the centre of connecting rod 120 is provided with the through-hole, the through-hole with axis of rotation 112 is connected, the crossbeam with gyroscope 211's support 212 butt, the crossbeam is located respectively the upside of left side turn to information unit and right side turn to information unit, and control lever 4 drive connecting rod 120 passes through the crossbeam drive left side turns to information unit 21 and right side turn to information unit 22 and rotates.

The automobile shell 1 comprises an upper automobile shell and a lower automobile shell, pedals 6 are symmetrically arranged on the left side and the right side of the upper end face of the upper automobile shell, and a display screen 6 is arranged in the middle of the upper end face of the upper automobile shell.

Two connection platforms 133 of equal fixedly connected with in support 212 below, connect platform 133 along the axis symmetry setting of two supports 212 and the structure is the same, it is fixed with the lower casing to connect platform 133 lower extreme, connects the platform 133 up end and opens and have lower semicircle slotted hole, support 212 below is provided with the boss, the boss terminal surface is opened has last semicircle slotted hole, goes up semicircle slotted hole and lower semicircle slotted hole cooperation and connects on a circle axle 135, it is provided with stationary blade 134 to connect platform 133 top, stationary blade 134 is half bearing structure, stationary blade 134 passes through the fastener with the connection platform 133 and fixes, the half bearing face of stationary blade 134 with the lower semicircle slotted hole cooperation of connecting the platform forms the through-hole, through-hole and the cooperation of circle axle 135 are fixed with circle axle 135. Wherein, the support 212 is provided with flange 136 near coupling assembling one end, and flange 136 is located the crossbeam of connecting rod 120 under, and when connecting rod 120 rotated, a side crossbeam acted on flange 136 downwards, and the support 212 that drives the atress rotated (be the fore-and-aft direction) around perpendicular to axis of rotation 112 axis (be around round axle 135) direction (be promptly), flange 136 below is provided with spring 137, spring 137 lower extreme is connected on the circular lug 138 on lower hull 3, and spring 137 plays the effect of buffering and reseing when support 212 rotated downwards.

The use method of the balance car with the control rod in the embodiment comprises the following steps:

when the balance car with the operating rod in the embodiment is used, the power switch can be turned on firstly to provide power for the balance car and the control system thereof. When a user steps on the balance car, the pedal of the balance car receives external force, the induction switch can be controlled to be turned on through the main control chip, and the balance car is started.

After the balance car is started, if the balance car does not need to be steered, the control rod 4 is not moved and is positioned in the center, the left steering information unit 21 and the right steering information unit 22 are relatively parallel to the car body, the balance car moves forwards and straightly when the car body tilts forwards, and the balance car moves backwards and straightly when the car body tilts backwards. If the left turning is needed, the control rod 4 is rotated to the left, the control rod 4 drives the connecting rod 120 to rotate to the left through the rotating shaft 112, so that one end of the connecting rod 120, which is abutted to the right bracket 212, is lifted, the right turning information unit 22 is driven to rotate, the movement of the right turning information unit 22 can send the turning information of the control rod 4 and the deflection angle information of the vehicle body to the main control chip through the position change of the right gyroscope 211, the main control chip drives the hub motor 31 on the right side to rotate forwards, and therefore the right wheel 3 is driven to rotate forwards, and the left turning of the balance vehicle is achieved. On the contrary, if the right turn is needed, the control rod 4 is turned to the right, that is, the main control chip drives the left wheel hub motor 31 to rotate forwards through the movement of the left turn information unit 21, so as to realize the right turn of the balance car.

In addition, the information input by the mobile phone can be transmitted to the control and driving module through the Bluetooth module, so that the control and driving module controls interactive information such as lamp, movement and power modes of the balance car; the information parameters such as the electric quantity and the speed of the balance car can also be sent to the mobile phone through the Bluetooth module so as to meet the requirements of users.

Second embodiment:

in a second embodiment of the invention, the transmission assembly is a planetary gear mechanism, and two sides of the planetary gear mechanism are provided with cross beams; the control rod is connected with the planetary gear mechanism and drives the planetary gear mechanism to drive the left steering information unit 21 and the right steering information unit 22 to rotate through cross beams on two sides.

The planetary gear mechanism comprises a planet carrier 223, a sun gear 222, a plurality of planetary gears 221 and a gear ring 220, wherein two sides of the planet carrier 223 are connected with the lower shell through lugs which are provided with through holes, and the sun gear 222 is arranged in the planet carrier 223 and is in fit connection with the rotating shaft 212; a plurality of planet gears 221 are uniformly distributed on the circumference of the sun gear 222 and are meshed with the inner tooth surfaces of the gear ring 220; the gear ring 220 with the planet carrier 223 is fixed through the buckle, just gear ring 220 both sides are provided with the crossbeam. Wherein, planet carrier 223 central point puts and is provided with the perforation, is provided with planetary gear post and buckle on the planet carrier 223, planetary gear post and buckle are all along circumference evenly distributed, and are a plurality of planetary gear 221 central point puts and is provided with the perforation, and is a plurality of planetary gear 221 connects on the planetary gear post through the perforation cooperation, and is a plurality of planetary gear 221 and sun gear 222 are located in the middle of planet carrier 223 and ring gear 220.

The sun gear 222 is provided with a through hole at a central position, the rotating shaft 212 of the connecting assembly penetrates through the through hole to be connected with the sun gear 222 in a matching manner, the rotating shaft 212 drives the sun gear 222 to rotate, and further drives the planetary gear 221 to rotate, so that the gear ring 220 meshed with the planetary gear 221 rotates.

The brackets 212 are provided with flanges 236 on the inner sides, the flanges 236 are located below the cross beam, when the cross beam rotates along with the gear ring 220, the cross beam on one side presses down on the flanges 236 to drive the stressed bracket 212 to rotate around the direction perpendicular to the axis of the rotating shaft 112 (i.e. the front-back direction), and the cross beam is located above the flanges 236; the support 212 is provided with round convex block and spring 237 near the below of coupling assembling one end, the one end of spring 237 with round convex block is connected, the other end with the hull is connected, and spring 237 plays the effect of buffering and reseing when support 212 rotates downwards.

The balance car of the present embodiment is used in the same manner as the balance car of embodiment 1.

In the third embodiment of the present invention, the transmission assembly is a bevel gear mechanism, the bevel gear mechanism includes a bevel gear column 320 and two bevel gear rims 321 symmetrically disposed with respect to the bevel gear column 320, one end of the bevel gear column 320 is connected to the rotating shaft 112, and the other end thereof is provided with a bevel gear; the two bevel gear rims 321 are respectively engaged with the bevel gears to drive the left steering information unit 21 and the right steering information unit 22 to rotate.

The two conical gear rims 321 are of fan-shaped structures and are symmetrically fixed on the two brackets 212 respectively, and two sides of each conical gear are connected with the conical gear rims 321 in a matched mode.

In this embodiment, the two brackets 212 are vertically disposed, a shaft sleeve 3321 is fixed on the inner end surface of each of the two brackets 212, a circular shaft 335 is disposed in the middle of each of the two brackets 212, the shaft sleeve 3321 is located at the center of the bracket 212, and the left end and the right end of each of the circular shafts 335 are respectively connected to the shaft sleeve 3321.

The bracket 212 is provided with a flange 336 close to one end of the connecting assembly, a round bump 338 is arranged below the flange 336, a spring 337 is connected below the round bump 338, and the spring 337 plays roles of buffering and resetting when the bracket 332 rotates downwards.

When the rotating shaft 112 drives the bevel gear column 320 to rotate, the two bevel gear rims 321 engaged with the rotating shaft are driven to rotate at the same time, and the bevel gear rims 321 respectively drive the brackets 332 fixed with the bevel gear rims to rotate around the axis of the circular shaft 335. Further, the movement of the left steering information unit 21 or the right steering information unit 22 can send the steering information of the control lever 4 and the vehicle body deflection angle information to the main control chip through the position change of the gyroscope 211, so that the main control chip drives the in-wheel motor 31 to rotate.

The above description is only for the purpose of illustrating the technical solutions of the present invention and is not intended to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; all the equivalent structures or equivalent processes performed by using the contents of the specification and the drawings of the invention, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.