CN106080908B - Electric bike with integrated self-balancing unicycle - Google Patents

Abstract

An electric bicycle integrated with a self-balancing unicycle, including a frame, a shock-absorbing front fork is arranged on the front side of the frame, a handlebar is arranged at the upper end of the shock-absorbing front fork, a front wheel is arranged at the lower part of the shock-absorbing front fork, and a rear part of the frame is provided with a shock-absorbing front fork. The rechargeable battery and the seat above the rechargeable battery are characterized in that: the upper and lower parts of the rear side of the frame are respectively provided with an upper mounting seat and a lower mounting seat, a rear fork is hinged on the lower mounting seat, and the rear upper side of the rear fork A connecting seat is provided, a shock-absorbing spring is arranged between the connecting seat and the upper mounting seat, and the upper and lower ends of the shock-absorbing spring are hinged with the upper mounting seat and the connecting seat respectively, and the left and right sides of the self-balancing unicycle pass through the The dismounting fastening structure is arranged between the rear ends of the rear forks. The invention has novel design, simple structure and compact installation, which can facilitate people to ride on different occasions, has good left and right self-balancing stability, has support for parking, and has high safety and reliability, and is especially suitable for beginners to ride.

Description

Electric bike with integrated self-balancing unicycle

technical field

The invention relates to a means of transportation, in particular to an electric bicycle integrated with a self-balancing unicycle.

Background technique

Electric bicycles are a new type of transportation tool that has developed rapidly in recent years and has gradually replaced traditional pedal bicycles to a certain extent. However, while people like its features such as fast operation and novel appearance, they have found that it still has some shortcomings. For example, the front or rear wheel of the current electric bicycle is relatively cumbersome to disassemble or install. If the front or rear wheel of the electric bicycle is disassembled and used as a self-balancing unicycle, the volume is reduced, and it can be used more conveniently and quickly in the city. Densely crowded streets, shopping malls, subways, squares, parks shuttle.

Self-balancing unicycles are suitable for daily commuting or as a leisure sport on weekends. Using the gyro sensor to control the balance, the high power motor drive can get good power. Internally controlled by a program, the speed limit is 16km/h, which takes into account the driving speed while ensuring safety. Self-balancing unicycle is a new generation of energy-saving, environmentally friendly and portable means of transportation, which can replace buses and subways for short-distance travel. The unicycle is easy to carry and can be put directly into the trunk of the car, brought to the home or office.

The general control method of the existing self-balancing unicycle is as follows: after the user places their feet on the folding pedals on both sides of the unicycle, slightly tilting the body forward is to advance, tilting backward is decelerating, and tilting to the left and right. The body is turning. The more you lean forward, the faster you go, and the gyroscope (gyroscope) in the car ensures that it is well balanced. The existing self-balancing unicycles have the following defects or deficiencies: 1. The balance in the left and right directions cannot be controlled, especially for beginners, it is easy to fall left and right when starting; 2. The wheels of the existing self-balancing unicycles are equipped with spokes, and the manufacturing cost of the wheel hub Higher; 3. The existing unicycle has no bracket and is always dumped, which is very inconvenient and occupies a large area.

SUMMARY OF THE INVENTION

In order to solve the deficiencies in the prior art, the present invention provides a self-balancing unicycle as the rear wheel of an electric bicycle, the self-balancing unicycle is easy to disassemble and assemble, the self-balancing unicycle can control the balance in the left and right directions, the manufacturing cost is low, and the parking is convenient. of electric bikes with integrated self-balancing unicycles.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical scheme: an electric bicycle integrated with a self-balancing unicycle, including a frame, a shock-absorbing front fork on the front side of the frame, a handlebar on the upper end of the shock-absorbing front fork, and a shock-absorbing front fork. The lower part is provided with a front wheel, the rear part of the frame is provided with a rechargeable battery and a seat above the rechargeable battery, the upper and lower parts of the rear side of the frame are respectively provided with an upper mounting seat and a lower mounting seat, and a rear mounting seat is hinged on the lower mounting seat. Fork, a connecting seat is arranged on the upper side of the rear part of the rear fork, a shock-absorbing spring is arranged between the connecting seat and the upper mounting seat, and the upper and lower ends of the shock-absorbing spring are respectively hinged with the upper mounting seat and the connecting seat. The self-balancing wheelbarrow The left and right sides of the rear fork are respectively set between the rear ends of the rear forks through a detachable fastening structure;

The self-balancing unicycle includes an outer frame and wheels. The front side of the outer frame is provided with headlights, the rear side of the outer frame is provided with tail lights, the top of the outer frame is provided with a handle, and the outer frame is provided with a mudguard above the wheels. The inner left and right sides are respectively fixed with a left wheel hub bracket and a right wheel hub bracket, and the left wheel hub bracket and the right wheel hub bracket have the same structure and are arranged symmetrically;

The left wheel hub bracket and the right wheel hub bracket are composed of three support arms, the inner ends of the three support arms are fixedly connected, the included angle between the two adjacent support arms is 120°, and the outer end sides of the three support arms are respectively provided with one Support guide wheels, the center lines of the three support guide wheels on the left wheel hub bracket are located on the same cylindrical surface, and the three support guide wheels on the left wheel hub bracket and the three support guide wheels on the right wheel hub bracket are arranged one by one opposite each other. ; A disc-shaped dust shield is fixed on the right side of the left hub bracket and the left side of the right hub bracket, and the dust shield is located between the three support guide wheels on the same side;

The wheel includes a wheel hub and a tire sleeved on the outside of the wheel hub. The left and right sides of the inner wall of the wheel hub are respectively provided with circular tracks, and the three support and guide wheels on the left side all extend into and are rollingly connected to the circular track on the left side. The three support guide wheels on the right side all extend into and roll on the circular track on the right side;

A mounting frame located in the wheel hub is arranged between the left wheel hub bracket and the right wheel hub bracket, and the mounting bracket is provided with a double gyro balance mechanism, a control circuit board, a rechargeable lithium battery and a power drive mechanism for driving the wheel hub to rotate;

The lower left part of the left wheel hub bracket is provided with a left flip type supporting pedal structure, and the lower right part of the right wheel hub bracket is provided with a right flip type support pedal structure. The left flip type support pedal structure and the right flip type support pedal structure have the same structure and are symmetrically arranged ;

The side of the rechargeable battery is provided with a power supply interface, the control circuit board of the self-balancing unicycle is connected with a power supply control line, the power supply control line is connected with a power supply plug, and the power supply plug is inserted in the power supply interface.

The double gyro balance mechanism includes two mounting boxes arranged on the mounting frame. The two mounting boxes are arranged horizontally in the front-rear direction. The tops of the two mounting boxes are open, and the right side of each mounting box is provided with mounting holes. There is a gyroscope in each installation box, and a gyro angle control motor is installed on the right side of each installation box. The main shaft of the gyro angle control motor extends into the installation box through the installation hole and is fixedly connected with an L-shaped Cantilever plate, the cantilever plate is composed of a top plate and a side plate that are perpendicular to each other. The left side of the side plate is fixed and vertically connected to the main shaft of the gyro angle control motor, and the top of the gyro is fixedly connected to the lower surface of the top plate.

The gyroscope includes a sealed casing, and a high-speed motor is arranged in the sealed casing. The top of the high-speed motor is fixedly connected to the top inner wall of the sealed casing. The top of the edge is fixedly connected with a rotating drum, and the rotating drum is located between the outer wall of the high-speed motor and the inner wall of the sealing shell.

The power drive mechanism includes a drive motor located under the double gyro balance mechanism, the main shaft of the drive motor is connected with a gear, the inner wall of the wheel hub is provided with an inner gear, and the gear meshes with the inner gear.

The structure of the right flip type supporting pedal includes a fixed pedal, a flip pedal and a connecting rod. The fixed pedal is arranged horizontally. The left side of the fixed pedal is fixed on the lower part of the right side of the right wheel hub bracket. A flipping motor is fixed, the lower surface of the flipping pedal is provided with a guide plate along the left-right direction, and the guide plate is provided with a guide hole along the left-right direction. There is a guide post extending into the guide hole and sliding along the guide hole.

The detachable fastening structure includes a mounting block arranged on the outer side of the outer frame and two raised ribs arranged on the inner side of the rear end of the rear fork. Two installation grooves, the front and outer sides of the two installation grooves are open, the cross-sections of the two convex ribs and the two installation grooves are T-shaped structures with the same structural size, and the distance between the two convex ribs and the The distance between the two installation slots is equal;

The outer side of the mounting block is provided with a positioning hole located between the two mounting slots, the rear end of the rear fork is threadedly connected with a positioning bolt corresponding to the positioning hole, the positioning bolt is located between the two convex ribs, and the outer end of the positioning bolt is has a handle;

The two convex rib strips on the same side are correspondingly inserted into the two installation grooves on the same side, and are inserted into the positioning holes through positioning bolts to realize the assembly between the self-balancing unicycle and the rear fork.

With the above technical solution, when parking, the turning motor is activated, the main shaft of the turning motor drives the connecting rod to rotate downward, the guide post at the other end of the connecting rod moves along the guide hole, and at the same time, the turning pedal is turned downward by 90° to support the entire unicycle , At this time, the tire is also in contact with the ground, and the two flip pedals can prevent the unicycle from tipping to the left or to the right, so that the electric bicycle and the self-balancing unicycle can be kept upright.

The combination of self-balancing unicycles and electric bicycles meets the travel needs of certain groups of people. School students, for example, arrive in electric bicycle mode from home to school. After arriving at school, you can switch to unicycle mode to flexibly shuttle through the crowd. There are people or people in the subway who drive on the road in electric vehicle mode from home to subway, switch to unicycle mode after arriving at the subway, easily enter the subway and continue to travel for a short distance after arriving at the destination. The self-balancing unicycle has its own power supply. But when the unicycle is connected to the rear fork, it is switched to provide power to the rechargeable battery of the electric bicycle. The rechargeable battery supplies power to the self-balancing unicycle through the power supply control line, and simultaneously charges the rechargeable lithium battery. When the self-balancing unicycle needs to be disassembled, hold the handle to loosen the positioning bolts, so that the positioning bolts come out from the positioning holes, and then pull the self-balancing unicycle backwards to disengage the convex rib from the installation groove, then the self-balancing unicycle can be removed draw out.

The specific working process of the self-balancing unicycle is as follows: when a beginner is riding, first stand on two fixed pedals, the tires mainly support the rider, and the two flip pedals can prevent the unicycle from tipping to the left or right. Start Double gyro balance mechanism, that is to open two high-speed motors, the high-speed motors drive the rotating disk and the rotating drum to rotate at a high speed, and the two gyroscopes set along the front and rear directions can keep the whole unicycle in a good self-balance after high-speed rotation, and then start to flip The motor quickly flips the two flip pedals upward and keeps the fixed pedal horizontal. Due to the high-speed rotation of the gyroscope, it can provide a certain balance force for beginners to avoid left and right tipping, and then the drive motor can be started, and the drive motor drives the gear Rotation, the gear drives the ring gear to rotate, and the ring gear drives the wheel hub and tire to rotate, so that it travels forward. When the rider leans forward, leaning forward slightly is forward, leaning back is slowing, and leaning left and right is turning. The more you lean forward, the faster you go.

The wheel hub of the present invention is supported by the support guide wheels arranged on the left wheel hub bracket and the right wheel hub bracket, and the three support guide wheels on the same side form the three vertices of a regular triangle, which has good stability, fully reduces weight and reduces production costs .

There are two gyroscopes in the front and rear directions, which can fully improve the balance of the unicycle. In addition, the gyro angle control motor can be used to drive the cantilever plate to rotate, and the cantilever plate then drives the rotation centerline of the rotating disk and the rotating drum to incline a certain angle, so that the left and right balance stability of the unicycle can be adjusted to the greatest extent.

The circuit control board can intelligently control the high-speed motor, flip motor, drive motor, gyro angle control motor startup, shutdown and stepless speed regulation. A rechargeable lithium battery powers the circuit control board, other powered components and all motors.

To sum up, the present invention has novel design, simple structure, and compact installation, which can facilitate people to ride on different occasions, has good left and right self-balancing stability, has support for parking, and has high safety and reliability, and is especially suitable for initial use. Scholar rides.

Description of drawings

Fig. 1 is the plane structure schematic diagram of the present invention;

Fig. 2 is the three-dimensional structure schematic diagram after the present invention removes the self-balancing wheelbarrow;

Fig. 3 is the three-dimensional structure schematic diagram of the appearance of the self-balancing unicycle in Fig. 1;

Fig. 4 is the plane structure schematic diagram of the self-balancing wheelbarrow in Fig. 1;

Fig. 5 is A-A sectional view in Fig. 4;

Fig. 6 is B-B sectional view in Fig. 4;

Fig. 7 is C-C sectional view in Fig. 4;

Figure 8 is a perspective half-section view of a self-balancing wheelbarrow;

FIG. 9 is a schematic diagram of the structure of the self-balancing unicycle after removing the tire and the outer frame.

Detailed ways

As shown in FIG. 1-FIG. 9, the electric bicycle integrated with self-balancing unicycle of the present invention includes a frame 7, a shock-absorbing front fork 8 is arranged on the front side of the frame 7, and a handlebar 17 is arranged on the upper end of the shock-absorbing front fork 8, A front wheel 35 is arranged at the lower part of the shock-absorbing front fork 8, a rechargeable battery 36 and a seat 37 located above the rechargeable battery 36 are arranged at the rear of the frame 7, and upper mounting seats 38 are respectively arranged at the upper and lower parts of the rear side of the frame 7 and the lower mounting seat 39, the lower mounting seat 39 is hinged with a rear fork 40, the upper side of the rear part of the rear fork 40 is provided with a connecting seat 41, and a shock absorbing spring 42 is arranged between the connecting seat 41 and the upper mounting seat 38, so as to reduce shock absorption. The upper and lower ends of the spring 42 are hinged with the upper mounting seat 38 and the connecting seat 41 respectively, and the left and right sides of the self-balancing wheelbarrow 43 are respectively set between the rear ends of the rear forks 40 through detachable fastening structures. The components such as the braking system and the automatic controller in the present invention are conventional technologies, which are not shown in the drawings.

The self-balancing wheelbarrow 43 includes an outer frame 1 and a wheel 2 . The front side of the outer frame 1 is provided with a headlight 3 , the rear side of the outer frame 1 is provided with a tail light 4 , the top of the outer frame 1 is provided with a handle 5 , and the outer frame 1 is provided with a headlight 3 . The left and right hub brackets are fixed on the left and right sides of the outer frame 1 on the fender cover 6 above the wheel 2, respectively. The left and right wheel hub brackets have the same structure and are symmetrically arranged.

The left wheel hub bracket and the right wheel hub bracket are both composed of three support arms 9, the inner ends of the three support arms 9 are fixedly connected, the included angle between the two adjacent support arms 9 is 120°, and the outer end side of the three support arms 9 is 120°. A support guide wheel 10 is respectively provided, the centerlines of the three support guide wheels 10 on the left wheel hub bracket are located on the same cylindrical surface, the three support guide wheels 10 on the left wheel hub bracket and the three support guide wheels on the right wheel hub bracket. The guide wheels 10 are arranged opposite to each other on the left and right sides. A disc-shaped dust shield 80 is fixed on the right side of the left hub bracket and the left side of the right hub bracket, respectively, and the dust shield 80 is located between the three support guide wheels 10 on the same side.

The wheel 2 includes a wheel hub 11 and a tire 12 sleeved outside the wheel hub 11. The left and right sides of the inner wall of the wheel hub 11 are respectively provided with circular rails 13. On the circular track 13 on the right side, the three supporting guide wheels 10 on the right side all extend into and are connected to the circular track 13 on the right side in a rolling manner.

A mounting frame 14 located in the wheel hub 11 is arranged between the left wheel hub bracket and the right wheel hub bracket. The mounting bracket 14 is provided with a double gyro balance mechanism, a control circuit board (not shown in the figure), a rechargeable lithium battery 15 and a battery for A power drive mechanism that drives the hub 11 to rotate.

The lower left part of the left wheel hub bracket is provided with a left flip type supporting pedal structure, and the lower right part of the right wheel hub bracket is provided with a right flip type support pedal structure. The left flip type support pedal structure and the right flip type support pedal structure have the same structure and are symmetrically arranged ;

The side of the rechargeable battery 36 is provided with a power supply interface 52 , the control circuit board of the self-balancing unicycle 43 is connected with a power supply control line 44 , and the power supply control line 44 is connected with a power supply plug 45 , and the power supply plug 45 is inserted into the power supply interface 52 .

The double gyro balance mechanism includes two mounting boxes 16 arranged on the mounting frame 14. The two mounting boxes 16 are horizontally arranged in the front-rear direction. The tops of the two mounting boxes 16 are both open, and the right side of each mounting box 16 is open There are installation holes, each installation box 16 is provided with a gyroscope 18, the right side of each installation box 16 is provided with a gyro angle control motor 19, and the main shaft of the gyro angle control motor 19 extends into the An L-shaped cantilever plate 20 is fixedly connected in the installation box 16. The cantilever plate 20 is composed of a top plate and a side plate that are perpendicular to each other. The left side of the side plate is fixed and vertically connected to the main shaft of the gyro angle control motor 19. The lower surface of the top plate is fixedly connected.

The gyroscope 18 includes a sealed casing 21, a high-speed motor 22 is arranged in the sealed casing 21, the top of the high-speed motor 22 is fixedly connected with the top inner wall of the sealed casing 21, and the main shaft of the high-speed motor 22 faces vertically downward and is connected to the axial drive There is a rotating disk 23 , and a rotating drum 24 is fixedly connected to the top of the outer edge of the rotating disk 23 .

The power drive mechanism includes a drive motor 25 located below the double gyro balance mechanism. The main shaft of the drive motor 25 is connected with a gear 26 in a driving manner.

The right flip-up support pedal structure includes a fixed pedal 28, a flip pedal 29 and a connecting rod 30. The fixed pedal 28 is arranged horizontally. Side hinged, the lower surface of the fixed pedal 28 is fixed with a turning motor 31, the lower surface of the turning pedal 29 is provided with a guide plate 32 along the left and right direction, and the guide plate 32 is provided with a guide hole 33 along the left and right direction, the main shaft of the turning motor 31 and the connecting rod One end of the connecting rod 30 is vertical and fixedly connected, and the other end of the connecting rod 30 is vertically provided with a guide post 34 which extends into the guide hole 33 and can slide along the guide hole 33 .

The detachable fastening structure includes a mounting block 46 provided on the outer side of the outer frame 1 and two convex ribs 47 provided on the inner side of the rear end of the rear fork 40. The two convex ribs 47 are horizontally arranged in the front-rear direction. Two installation grooves 48 are horizontally opened in the front-rear direction, the front end and outer side of the two installation grooves 48 are open, and the cross-sections of the two convex ribs 47 and the two installation grooves 48 are T-shaped structures with the same structural dimensions, The distance between the two convex ribs 47 is equal to the distance between the two installation grooves 48;

The outer side of the mounting block 46 is provided with a positioning hole 49 located between the two mounting grooves 48 . The rear end of the rear fork 40 is threadedly connected with a positioning bolt 50 corresponding to the positioning hole 49 , and the positioning bolt 50 is located on the two convex ribs 47 . In between, the outer end of the positioning bolt 50 is provided with a handle 51;

The two convex ribs 47 on the same side are correspondingly inserted into the two mounting grooves 48 on the same side, and are inserted into the positioning holes 49 through the positioning bolts 50 to realize the assembly between the self-balancing wheelbarrow and the rear fork 40 .

When parking, start the turning motor 31, the main shaft of the turning motor 31 drives the connecting rod 30 to rotate downward, the guide post 34 at the other end of the connecting rod 30 moves along the guide hole 33, and at the same time, the turning pedal 29 is turned down by 90° to turn the entire unicycle. When the tires 12 are in contact with the ground, the two turning pedals 29 can prevent the unicycle from tipping to the left or to the right, so that the electric bicycle and the self-balancing unicycle 43 can be kept upright.

The combination of the self-balancing unicycle 43 and the electric bicycle meets the travel needs of certain groups of people. School students, for example, arrive in electric bicycle mode from home to school. After arriving at school, you can switch to unicycle mode to flexibly shuttle through the crowd. There are people or people in the subway who drive on the road in electric vehicle mode from home to subway, switch to unicycle mode after arriving at the subway, easily enter the subway and continue to travel for a short distance after arriving at the destination. The self-balancing wheelbarrow 43 has its own power supply. However, when the unicycle is connected to the rear fork 40, it is switched to provide power to the rechargeable battery 36 of the electric bicycle. The rechargeable battery 36 supplies power to the self-balancing unicycle 43 through the power supply control line 44, and simultaneously charges the rechargeable lithium battery. When the self-balancing wheelbarrow 43 needs to be dismantled, the hand-held handle 51 first loosens the positioning bolts 50 so that the positioning bolts 50 come out of the positioning holes 49, and then pulls the self-balancing wheelbarrow 43 backwards so that the convex rib 47 is connected to the installation groove 48. After disengaging, the self-balancing wheelbarrow 43 can be pulled out.

The specific working process of the self-balancing unicycle 43 is as follows: when a beginner rides, stand on the two fixed pedals 28 first, the tires 12 mainly support the rider, and the two flip pedals 29 can prevent the unicycle from tipping to the left or to the side. Tilt to the right, start the double gyro balance mechanism, that is, turn on the two high-speed motors 22. The high-speed motors 22 drive the rotating disk 23 and the rotating drum 24 to rotate at high speed. Keep a good self-balance, then start the flipping motor 31, and quickly flip the two flipping pedals 29 upward to keep the fixed pedal 28 horizontal. Due to the high-speed rotation of the gyroscope 18, it can provide a certain balance force for beginners when starting, avoid left and right After dumping, the drive motor 25 can be started, the drive motor 25 drives the gear 26 to rotate, the gear 26 drives the ring gear to rotate, and the ring gear drives the wheel hub 11 and the tire 12 to rotate, so as to move forward. When the rider leans forward, leaning forward slightly is forward, leaning back is slowing, and leaning left and right is turning. The more you lean forward, the faster you go.

The wheel hub 11 of the present invention is supported by the support guide wheels 10 provided on the left wheel hub bracket and the right wheel hub bracket. The three support guide wheels 10 on the same side form the three vertices of an equilateral triangle, which has good stability, fully reduces weight and reduce manufacturing cost.

Two gyroscopes 18 are provided along the front and rear directions, which can fully improve the balance of the unicycle. In addition, the gyro angle control motor 19 can be used to drive the cantilever plate 20 to rotate, and the cantilever plate 20 then drives the rotation center line of the rotating disk 23 and the rotating drum 24 to incline a certain angle, so that the left and right balance stability of the unicycle can be adjusted to the greatest extent.

The circuit control board can intelligently control the high-speed motor 22, the flip motor 31, the drive motor 25, the gyro angle control motor 19 to start, turn off and stepless speed regulation. A rechargeable lithium battery powers the circuit control board, other powered components and all motors.

The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the present invention can still be modified or equivalently replaced without departing from the Any modification or partial replacement of the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims (6)

1. An electric bicycle integrated with a self-balancing unicycle, including a frame, the front side of the frame is provided with a shock-absorbing front fork, the upper end of the shock-absorbing front fork is provided with a handlebar, the lower part of the shock-absorbing front fork is provided with a front wheel, and the rear of the frame is provided with a front wheel. The utility model has a rechargeable battery and a seat above the rechargeable battery, and is characterized in that: the upper and lower parts of the rear side of the frame are respectively provided with an upper mounting seat and a lower mounting seat, and a rear fork is hinged on the lower mounting seat, and the rear part of the rear fork is provided with an upper mounting seat and a lower mounting seat respectively. The upper side is provided with a connecting seat, a shock-absorbing spring is arranged between the connecting seat and the upper mounting seat, and the upper end and the lower end of the shock-absorbing spring are respectively hinged with the upper mounting seat and the connecting seat, and the left and right sides of the self-balancing unicycle are respectively It is arranged between the rear ends of the rear forks through a detachable fastening structure; The self-balancing unicycle includes an outer frame and wheels. The front side of the outer frame is provided with headlights, the rear side of the outer frame is provided with tail lights, the top of the outer frame is provided with a handle, and the outer frame is provided with a mudguard above the wheels. The inner left and right sides are respectively fixed with a left wheel hub bracket and a right wheel hub bracket, and the left wheel hub bracket and the right wheel hub bracket have the same structure and are arranged symmetrically; The left wheel hub bracket and the right wheel hub bracket are composed of three support arms, the inner ends of the three support arms are fixedly connected, the included angle between the two adjacent support arms is 120°, and the outer end sides of the three support arms are respectively provided with one Support guide wheels, the center lines of the three support guide wheels on the left wheel hub bracket are located on the same cylindrical surface, and the three support guide wheels on the left wheel hub bracket and the three support guide wheels on the right wheel hub bracket are arranged one by one opposite each other. ; A disc-shaped dust shield is fixed on the right side of the left hub bracket and the left side of the right hub bracket, and the dust shield is located between the three support guide wheels on the same side; The wheel includes a wheel hub and a tire sleeved on the outside of the wheel hub. The left and right sides of the inner wall of the wheel hub are respectively provided with circular tracks, and the three support and guide wheels on the left side all extend into and are rollingly connected to the circular track on the left side. The three support guide wheels on the right side all extend into and roll on the circular track on the right side; A mounting frame located in the wheel hub is arranged between the left wheel hub bracket and the right wheel hub bracket, and the mounting bracket is provided with a double gyro balance mechanism, a control circuit board, a rechargeable lithium battery and a power drive mechanism for driving the wheel hub to rotate; The lower left part of the left wheel hub bracket is provided with a left flip type supporting pedal structure, and the lower right part of the right wheel hub bracket is provided with a right flip type support pedal structure. The left flip type support pedal structure and the right flip type support pedal structure have the same structure and are symmetrically arranged ; The side of the rechargeable battery is provided with a power supply interface, the control circuit board of the self-balancing unicycle is connected with a power supply control line, the power supply control line is connected with a power supply plug, and the power supply plug is inserted in the power supply interface. 2. The electric bicycle integrated with a self-balancing unicycle according to claim 1, wherein the double gyro balance mechanism comprises two mounting boxes arranged on the mounting frame, the two mounting boxes are arranged horizontally along the front and rear directions, and the two mounting boxes are installed The top of the box is open, the right side of each installation box is provided with installation holes, each installation box is provided with a gyroscope, the right side of each installation box is provided with a gyro angle control motor, the gyro angle The main shaft of the control motor extends into the installation box through the installation hole and is fixedly connected with an L-shaped cantilever plate. The cantilever plate is composed of a top plate and a side plate that are perpendicular to each other. The left side of the side plate is fixed and perpendicular to the main shaft of the gyro angle control motor. Connection, the top of the gyroscope is fixedly connected to the lower surface of the top plate. 3. The electric bicycle integrated with a self-balancing unicycle according to claim 2, wherein the gyroscope comprises a sealed casing, a high-speed motor is arranged in the sealed casing, and the top of the high-speed motor is fixedly connected to the top inner wall of the sealed casing, The main shaft of the high-speed motor faces vertically downward and is connected with a rotating disk in the same axial drive. The top of the outer edge of the rotating disk is fixedly connected with a rotating cylinder, and the rotating cylinder is located between the outer wall of the high-speed motor and the inner wall of the sealing shell. 4. The electric bicycle integrated with a self-balancing unicycle according to claim 1, 2 or 3, wherein the power drive mechanism comprises a drive motor located under the double gyro balance mechanism, and the main shaft of the drive motor is connected with a gear, and the wheel hub The inner wall of the gear is provided with an inner gear, and the gear meshes with the inner gear. 5. The electric bicycle integrated with a self-balancing unicycle according to claim 1, 2 or 3, characterized in that: the right-turned support pedal structure comprises a fixed pedal, a flipped pedal and a connecting rod, the fixed pedal is arranged horizontally, and the left side of the fixed pedal is It is fixed on the lower part of the right side of the right wheel hub bracket. The left side of the fixed pedal is hinged with the right side of the flip pedal. The bottom surface of the fixed pedal is fixed with a flip motor. There is a guide hole, the main shaft of the overturning motor is perpendicular and fixedly connected with one end of the connecting rod, and the other end of the connecting rod is vertically provided with a guide column extending into the guide hole and sliding along the guide hole. 6. The electric bicycle integrated with a self-balancing unicycle according to claim 1, 2 or 3, wherein the detachable fastening structure comprises a mounting block arranged on the outer side of the outer frame and two projections arranged on the inner side of the rear end of the rear fork Ribs, two convex ribs are arranged horizontally in the front and rear directions, and two installation grooves are horizontally opened on the outer side of the mounting block along the front and rear directions. The front and outer sides of the two installation grooves are open. The cross sections of the installation grooves are all T-shaped structures with the same structural size, and the distance between the two convex ribs is equal to the distance between the two installation grooves; The outer side of the mounting block is provided with a positioning hole located between the two mounting slots, the rear end of the rear fork is threadedly connected with a positioning bolt corresponding to the positioning hole, the positioning bolt is located between the two convex ribs, and the outer end of the positioning bolt is has a handle; The two convex rib strips on the same side are correspondingly inserted into the two installation grooves on the same side, and are inserted into the positioning holes through positioning bolts to realize the assembly between the self-balancing unicycle and the rear fork.