CN105383592B - A kind of enclosed type two wheel carriage autobalance lifts support system - Google Patents
A kind of enclosed type two wheel carriage autobalance lifts support system Download PDFInfo
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- CN105383592B CN105383592B CN201510950974.0A CN201510950974A CN105383592B CN 105383592 B CN105383592 B CN 105383592B CN 201510950974 A CN201510950974 A CN 201510950974A CN 105383592 B CN105383592 B CN 105383592B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
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- Motorcycle And Bicycle Frame (AREA)
Abstract
Support system is lifted the present invention relates to enclosed type two wheel carriage autobalance, enclosed type two wheel carriage can effectively be solved stable, balance, labour-saving facilitates support problem, structure is, driving wheel is housed in the middle of vehicle frame rear portion, control device is housed on the vehicle frame above driving wheel, the anterior centre of vehicle frame is equipped with wheel, disk is coaxially housed on wheel, uniform magnet steel and Hall sensor are housed at disk perimeter, battery is housed on the vehicle frame between front wheel and the driving wheel at rear portion, the rear portion both sides of vehicle frame are provided with symmetrical two mutually isostructural lowering or hoisting gears, Hall sensor is connected with control device, control device controls the forward or reverse of motor, forward or reverse of the motor with moving gear, the liter that gear passes through rack drives support, drop, constitute autobalance lifting support structure；Structure novel and unique of the present invention, it is good to install and use effect, laborsaving, conveniently.
Description
Technical field
The present invention relates to the vehicles, particularly a kind of enclosed type two wheel carriage autobalance lifting support system.
Background technology
Two wheel carriage refers to that closed and semi-enclosed two wheeler easily supports ground in parking, to ensure rider
Safety.Because its function exactly likes four-wheel car, therefore claim two wheel carriage, be by presently commercially available internal combustion engine two wheeler and electronic two-wheeled
Car transformation is formed, and because the complete Naked of rider's body of internal combustion engine two wheeler and electric two-wheel vehicle exposes outside, two legs are first used during parking
Ground is supported, then opens vehicle support stand to support the stabilization and balance of vehicle and ground with manpower, it uses not only laborious but also numb
It is tired.With economic development, consumption upgrading, a kind of semiclosed and totally enclosed two wheeler is come out one after another.Although riding can be protected
The body of person is not invaded and harassed by wind and weather and severe cold, but because its vehicle is enclosed, to rider is stable and stopping of balancing
Car is supported in ground and also brings inconvenience, therefore, how to solve stable, balance, support during the parking of enclosed type two wheel carriage,
It is the technical problem for needing conscientiously to solve.
The content of the invention
For above-mentioned situation, to overcome the defect of prior art, the purpose of the present invention is just to provide a kind of enclosed type two-wheeled
Car autobalance lifts support system, can effectively solve enclosed type two wheel carriage stable, balance, labour-saving and facilitate support to ask
Topic.
The technical scheme that the present invention is solved is, including vehicle frame, motor, battery and support, equipped with drive in the middle of vehicle frame rear portion
Control device is housed, the anterior centre of vehicle frame, which is equipped with wheel, wheel, is coaxially equipped with magnetic on the vehicle frame above driving wheel, driving wheel
It is equipped with uniform magnet steel and Hall sensor, the vehicle frame between front wheel and the driving wheel at rear portion and fills at disk, disk perimeter
There is battery, the rear portion both sides of vehicle frame are provided with symmetrical two mutually isostructural lowering or hoisting gears, the structure of each lowering or hoisting gear
It is that support is connected with the gear for driving arm ascending, descending on vehicle frame, gear and the motor phase on vehicle frame
Even, pedestal lower end is equipped with support castor, contact to earth switch and limit switch, and cantilever tip is provided with beside upper limit position switch, gear
Equipped with rack, rack is fixed together with support, and motor is connected with control device, and control device is by the first wire with storing
Battery is connected, and control device is connected by the second wire with motor, and control device passes through privates and limit switch phase
Even, control device is connected by privates with upper limit position switch, and control device is connected by the 5th wire with the switch that contacts to earth, and is controlled
The single-chip microcomputer of device processed is connected through photoelectric coupler isolation with FET, and FET is connected with motor, FET
The other end is connected with battery, and the photoelectrical coupler other end is connected with battery, three terminal regulator that single-chip microcomputer is concatenated, direct current
Diode is connected with battery, and Hall sensor is connected with control device, and control device controls the forward or reverse of motor,
Forward or reverse of the motor with moving gear, gear constitutes autobalance lifting support by the ascending, descending of rack drives support
Structure；
The balance sensor U11 of control device output signal is with terrestrial gravitation direction, automatic detection and output and the earth
The voltage signal of gravity direction deviation angle, when vehicle frame is tilted to the left, balance sensor U11 12 pin output is less than balance electricity
The signal of pressure（Balanced voltage is exactly the half of chip power supply voltage）, the processing through operational amplifier U10, by operational amplifier
U10 8 pin output high level signal, operational amplifier U10 8 pin are connected with the pin of single-chip microcomputer 2, and the pin of single-chip microcomputer 2 receives high electricity
Ordinary mail number, control the first motor reversal and the second motor rotate forward slight distance, by wheel disc drive left side brackets decline it is small away from
Rise slight distance from right side support, vehicle frame is moved slight distance to the right, when vehicle frame is still not up to balanced, continue above-mentioned
Process, until balance sensor U11 exports the signal equal to balanced voltage, so far vehicle body reaches balance；When vehicle frame is tilted to the right
When, balance sensor U11 signal of the 12 pin output higher than balanced voltage, through operational amplifier U10 processing, by operational amplifier
U10 14 pin output high level signal, operational amplifier U10 14 pin are connected with the pin of single-chip microcomputer 3, and the pin of single-chip microcomputer 3 receives height
Level signal, the first motor of control is rotated forward and the second motor reversal slight distance, drives left side brackets to rise by wheel disc small
Distance and right side support decline slight distance, vehicle frame is moved slight distance to the left, are balanced when vehicle frame is still not up to, in continuation
Process is stated, until balance sensor U11 exports the signal equal to balanced voltage, vehicle body reaches balance, realizes enclosed type two-wheeled sedan-chair
The autobalance lifting support of car.
Structure novel and unique of the present invention, it is good to install and use effect, laborsaving, conveniently, can effectively solve enclosed type two wheel carriage
Parking is stable, balance, labour-saving are conveniently supported in ground, can be effectively used for conventional internal combustion engine two wheeler and electric two-wheel vehicle
Support, is scooter（Instrument）On a big innovation, economic and social benefit is huge.
Brief description of the drawings
Fig. 1 is top view of the invention（Non-housing）.
Fig. 2 is side view of the invention（Dotted line is shell 22 in figure）.
Fig. 3 is electric operation control circuit figure of the invention.
Embodiment
The embodiment of the present invention is elaborated below in conjunction with accompanying drawing.
As shown in Fig. 1-3, the present invention includes driving wheel is housed in the middle of vehicle frame, motor, battery and support, the rear portion of vehicle frame 1
11, control device 4 is housed on the vehicle frame above driving wheel 11, the anterior centre of vehicle frame 1 is equipped with wheel 5, wheel and is coaxially equipped with
Uniform magnet steel 3 and Hall sensor 7 are housed, between front wheel 5 and the driving wheel 11 at rear portion at disk 6, the periphery of disk 6
Battery 2 is housed, the rear portion both sides of vehicle frame are provided with symmetrical two mutually isostructural lowering or hoisting gears on vehicle frame, each lifting dress
The structure put is that support 10 is connected with the gear 14 for driving arm ascending, descending on vehicle frame, and gear 14 is with being mounted in vehicle frame
On motor 12 be connected, the lower end of support 10 is equipped with support castor 8, contact to earth switch 20 and limit switch 9, the top of support 10
Provided with upper limit position switch 13, the side of gear 14 is equipped with rack 15, and rack 15 is fixed together with support 10, motor 12 and control
Device 4 processed is connected, and control device 4 is connected by the first wire 16 with battery 2, and control device 4 is by the second wire 17 with driving
Dynamic motor 12 is connected, and control device 4 is connected by privates 18 with limit switch 9, control device 4 by privates 19 and
Upper limit position switch 13 is connected, and control device 4 is connected by the 5th wire 21 with the switch 20 that contacts to earth, the single-chip microcomputer IC of control device 4
Through photoelectric coupler isolation, it is connected with FET, FET is connected with motor 12, the FET other end and electric power storage
Pond is connected, and the photoelectrical coupler other end is connected with battery, three terminal regulator VRL that single-chip microcomputer IC is concatenated, DC diode
It is connected with battery, Hall sensor 7 is connected with control device 4, control device 4 controls the forward or reverse of motor 12,
Forward or reverse of the motor 12 with moving gear 14, gear 14 drives the ascending, descending of support 10 by rack 15, constitutes automatic flat
Weigh lifting support structure；
The balance sensor U11 of control device output signal is with terrestrial gravitation direction, automatic detection and output and the earth
The voltage signal of gravity direction deviation angle, when vehicle frame is tilted to the left, balance sensor U11 12 pin output is less than balance electricity
The signal of pressure（Balanced voltage is exactly the half of chip power supply voltage）, the processing through operational amplifier U10, by operational amplifier
U10 8 pin output high level signal, operational amplifier U10 8 pin are connected with the pin of single-chip microcomputer 2, and the pin of single-chip microcomputer 2 receives high electricity
Ordinary mail number, control the first motor reversal and the second motor rotate forward slight distance, by wheel disc drive left side brackets decline it is small away from
Rise slight distance from right side support, vehicle frame is moved slight distance to the right, when vehicle frame is still not up to balanced, continue above-mentioned
Process, until balance sensor U11 exports the signal equal to balanced voltage, so far vehicle body reaches balance；When vehicle frame is tilted to the right
When, balance sensor U11 signal of the 12 pin output higher than balanced voltage, through operational amplifier U10 processing, by operational amplifier
U10 14 pin output high level signal, operational amplifier U10 14 pin are connected with the pin of single-chip microcomputer 3, and the pin of single-chip microcomputer 3 receives height
Level signal, the first motor of control is rotated forward and the second motor reversal slight distance, drives left side brackets to rise by wheel disc small
Distance and right side support decline slight distance, vehicle frame is moved slight distance to the left, are balanced when vehicle frame is still not up to, in continuation
Process is stated, until balance sensor U11 exports the signal equal to balanced voltage, vehicle body reaches balance, realizes enclosed type two-wheeled sedan-chair
The autobalance lifting support of car.
In order to ensure using effect, described control device 4 is made up of housing and its control circuit, and control circuit includes
Single-chip microcomputer IC, FET and photoelectrical coupler, FET include the first FET Q1, the second FET Q2, the 3rd
FET Q3, the 4th FET Q4, the 5th FET Q5, the 6th FET Q6, the 7th FET Q7 and the 8th
FET Q8；Photoelectrical coupler include the first photoelectrical coupler U1, the second photoelectrical coupler U2, the 3rd photoelectrical coupler U3,
Resistance R18 that 4th photoelectrical coupler U4, single-chip microcomputer IC 17 pin are concatenated, the first photoelectrical coupler U1 and resistance R4 of ground connection
It is connected with the first FET Q1 and the 3rd FET Q3 grid, resistance R4 other end ground connection, the first FET Q1
It is connected with the 3rd FET Q3 drain electrode and is connected with left motor M1 1 pin, the first FET Q1 and the 3rd FET
Q3 source electrode is connected with the both positive and negative polarity of battery respectively, and the first photoelectrical coupler U1 meets dc source VCC；
Resistance R19 that single-chip microcomputer IC 16 pin are concatenated, the second photoelectrical coupler U2 and resistance R3 and second of ground connection
Effect pipe Q2 and the 4th FET Q4 grid are connected, resistance R3 other end ground connection, second FET Q2 and the 4th
Effect pipe Q4 drain electrode is connected and is connected with left motor M1 2 pin, the second FET Q2 and the 4th FET Q4 source electrode
It is connected respectively with the both positive and negative polarity of battery, the second photoelectrical coupler U2 meets dc source VCC；Left motor M1 is through in parallel first
Effect pipe Q1, the 3rd FET Q3 and the second FET Q2, the 4th FET Q4 of parallel connection meet motor power socket P4；
Resistance R20 that single-chip microcomputer IC 15 pin are concatenated, the 3rd photoelectrical coupler U3 and resistance R2 and the 5th of ground connection
Effect pipe Q5 and the 7th FET Q7 grid are connected, resistance R2 other end ground connection, the 5th FET Q5 and the 7th
Effect pipe Q7 drain electrode is connected and is connected with right motor M2 1 pin, the 5th FET Q5 and the 7th FET Q7 source electrode
It is connected respectively with the both positive and negative polarity of battery, the 3rd photoelectrical coupler U3 meets dc source VCC；
Resistance R21 that single-chip microcomputer IC 14 pin are concatenated, the 4th photoelectrical coupler U4 and resistance R1 and the 6th of ground connection
Effect pipe Q6 and the 8th FET Q8 grid are connected, R1 other end ground connection, the 6th FET Q6 and the 8th field-effect
Pipe Q8 drain electrode is connected and is connected with right motor M2 2 pin, the 6th FET Q6 and the 8th FET Q8 source electrode difference
It is connected with the both positive and negative polarity of battery, the 4th photoelectrical coupler U4 meets dc source VCC；Right motor M2 is through the 5th field-effect in parallel
Pipe Q5, the 7th FET Q7 and the 6th FET Q6, the 8th FET Q8 of parallel connection meet motor power socket P4；
Single-chip microcomputer IC 13 pin are connected with left motor M1 lower position switch S1, and the lower position switch S1 other ends are simultaneously grounded；
Single-chip microcomputer IC 12 pin are connected with left motor M1 upper limit position switch S2, and the upper limit position switch S2 other ends are simultaneously grounded；
Single-chip microcomputer IC 11 pin are connected with right motor M2 lower position switch S3, and the lower position switch S3 other ends are simultaneously grounded；
Single-chip microcomputer IC 19 pin are connected with left motor M1 upper limit position switch S4, and the upper limit position switch S4 other ends are simultaneously grounded；
Single-chip microcomputer IC 6 pin are connected with left motor M1 tread surface switch S6, and the tread surface switch S6 other ends are simultaneously grounded, single
Piece machine IC 6 pin are connected with resistance R27, and resistance R27 is connected with triode Q9 base stages, triode Q9 grounded emitter, current collection
Pole contact relay K1 5 pin, relay K1 1 pin and 4 pin meet dc source VCC, and relay K1 2 pin connect right side indicator lamp and inserted
Seat P1, right side indicator lamp is contacted for indicating whether the first left motor M1 drops to ground；
Single-chip microcomputer IC 18 pin are connected with the second right motor M2 tread surface switch S7, and the tread surface switch S7 other ends simultaneously connect
Ground, single-chip microcomputer IC 8 pin are connected with resistance R28, and resistance R28 is connected with triode Q10 base stages, and triode Q10 emitter stage connects
Ground, collector connecting relay K2 5 pin, relay K2 1 pin and 4 pin meet dc source VCC, and relay K2 2 pin connect left side
Pilot bracket P2, left side indicator lamp is contacted for indicating whether the second right motor M2 drops to ground（First left motor M1,
Second right motor M2 is the motor 12 of left and right two in Fig. 1）；
Single-chip microcomputer IC 9 pin are passed through to be connected with ground capacity C6, electric capacity C8 in parallel, and is connect through three terminal regulator with parallel
Ground electric capacity C5, electric capacity C7, power supply VCC are connected with diode D5 negative pole, and diode D5 positive pole connects electric power storage through power outlet P3
Pond；
Single-chip microcomputer IC 10 pin are grounded through electric capacity C4, locking switch S5 in parallel；Single-chip microcomputer IC 20 pin connect hall sensing
The socket P5 of device 73 pin and resistance R9 one end, resistance the R9 other end and resistance R8, resistance R7, resistance R6, resistance R5, electricity
Hinder R10, Hall sensor（P5）71 pin and single-chip microcomputer IC 9 pin are connected, and are grounded through electric capacity C2, Hall sensor（P5）7
2 pin ground connection, single-chip microcomputer IC 7 pin ground connection, 5 pin are connected through resistance R43 with triode Q11 base stage, triode Q11 transmitting
Pole is grounded, and colelctor electrode meets buzzer LS1, and the buzzer LS1 other ends are connected with single-chip microcomputer IC 9 pin, and single-chip microcomputer IC 1 pin connects
The resistance R6 other ends, electric capacity C7, electric capacity C5, electric capacity C6, electric capacity C8 other end ground connection.
Balance sensor U11 3,5,6,7 pin ground connection, 14,15 pin connect operational amplifier U10 4 pin and three terminal regulator
VRL 3 pin, balance sensor U11 12 pin connecting resistance R32, resistance R32 connecting resistances R33 and operational amplifier U10 2 pin, electricity
R33 another termination operational amplifier U10 1 pin, 10 pin and 13 pin are hindered, operational amplifier U10 8 pin connect the 2 of single-chip microcomputer IC
Pin, operational amplifier U10 14 pin connect single-chip microcomputer IC 3 pin, 9 pin connecting resistance R36 and another termination three of resistance R38, resistance R36
End voltage-stablizer VRL 3 pin, resistance R38 another termination operational amplifier U10 12 pin and resistance R37, resistance R37's is another
End ground connection, operational amplifier U10 11 pin, 3 pin ground connection, three terminal regulator VRL 1 pin meets power outlet P3 through diode D5,
Described motor is direct current generator, brushless electric machine or stepper motor, and other driving electricity being suitable for the application of
Machine.
Described disk and Hall sensor can also use the disk and hall sensing inside the motor on vehicle rear drive sprocket
Device.
Described the first FET Q1, the second FET Q2, the 5th FET Q5, the 6th FET Q6 models
It is FQP36P15, the 3rd FET Q3, the 4th FET Q4, the 7th FET Q7 and the 8th FET Q8 type
Number be FQP90N15, if necessary, can also use other models FET or relay.
The single-chip microcomputer IC model STM8S103F, can also use other model single-chip microcomputers.
The balance sensor U11 model ADXL335, or gyroscope, can also use other applicable balance sensors.
From the foregoing, the present invention, which is used, includes vehicle frame, battery, the magnet steel on disk, control device（In actual system
When making, the circuit of control device is installed on circuit board）, lifting support, control device be arranged on vehicle frame on, magnet steel be arranged on and
On the disk 6 that front-wheel 5 is connected, Hall sensor 7 is arranged on pedestal lower end（The Hall carried inside driving wheel can also be used to pass
Sensor）, support castor 8, the tread surface switch 9 or support 10 beside support castor, can brake direct current generator 12,
Rear drive sprocket 11 and control device.
Disk 6, the Hall sensor of front-wheel 5, mounting magnetic steel（Also known as hall sensor）7 are arranged on vehicle frame 1 and install
Disk 6 on front-wheel 5 is parallel adjacent, is connected to the wire of shielding on control device, or using installed in rear drive sprocket 11
On motor inside magnet steel, Hall sensor, be connected on control device and used with the wire of shielding, tread surface switch 9 Hes
Support castor 8 be installed in parallel in the lower end of lifting support 10, with ensure motor rotation when can drive lifting support 10 rise or
Decline.
It is noted that the above-mentioned only embodiment provided, is the specific implementation situation for illustrating the present invention, without
To be used to limit the present invention, it is every in the range of present techniques using substitute or replacement means made by it is equivalent or equivalent
Substantially with identical technical scheme of the present invention, belong to protection scope of the present invention.
The working condition of the present invention is, in use, rider is sitting in two wheel carriage, support to be realized automatically during driving
Ascending, descending, convenient, stable to prop up two wheel carriage on ground through support, its operation principle is, due to using single-chip microcomputer and Hall
Sensor detects speed, and Hall sensor has reliability high, the advantages of strong antijamming capability, and drive part uses field-effect
Manage (relay can also be used), the rotating of motor is controlled so as to realize the rise or landing of support, because of the right and left point
Not Zhuan You pedestal lower end limit switch, when falling on, limit switch closure, motor stalls.Work as power-on, electronic garage
(locking switch is in opening) Hall sensor when walking, is reached after certain speed, the signal frequency received, to be converted into
Speed, it is determined that when reaching certain rotating speed, single-chip microcomputer IC 17 pin, 15 pin output high level, so that the first photoelectrical coupler U1,
3rd photoelectrical coupler U3 is turned on, triode Ql, triode Q3 conducting, the first relay Jl and the 3rd relay J3 adhesives, from
And the first motor M1 and the second motor M2 are rotated forward, the right and left support rises simultaneously, when certain one side support in place when, the first light
Electric coupler U1, the 3rd photoelectrical coupler U3 are turned on, so that the corresponding pin of single-chip microcomputer is pulled low level, single-chip microcomputer detects low
Level, it is determined that in place, so as to stop the operating of motor.When speed it is low to a certain extent when (locking switch be in open shape
State), 16 pin, the 14 pin output high level, the second photoelectrical coupler U2, the 4th photoelectrical coupler U4 conducting, so that three of single-chip microcomputer
Pole pipe Q2, triode Q4 are turned on, the second relay J2, the 4th relay J4 adhesives, the first motor Ml and the second motor M2 reversions,
Support land, when certain one side support in place when, the second photoelectrical coupler U2, the 4th photoelectrical coupler U4 conducting so that single-chip microcomputer
Corresponding pin is pulled low level, and single-chip microcomputer detects low level, it is determined that in place, so as to stop the operating of motor；When two
Side support all drops to behind ground, and balance sensor provides signal, notifies whether single-chip microcomputer IC vehicle bodies tilt, single if tilted
Piece machine controls both sides motor forward or reverse, adjusts support, makes car body balance, and rising support when being driving next time prepares；When
When locking switch is in the lock state, speed is not detected, corresponding rise landing operation is not performed.The present invention is to two wheel carriage
Support lifting is entirely what is automatically controlled, it is not necessary to which support is firmly risen or landed by people, very easy to use, laborsaving, effectively
Solve two wheel carriage manually to prop up the problem of ground is not only laborious but also inconvenient, be the big innovation on walking-replacing tool, it is economical
It is huge with social benefit.
Claims (5)
1. a kind of enclosed type two wheel carriage autobalance lifts support system, including vehicle frame, motor, battery and support, it is special
Levy and be, vehicle frame（1）Driving wheel is housed in the middle of rear portion（11）, driving wheel（11）Control device is housed on vehicle frame above（4）, car
Frame（1）Anterior centre is equipped with wheel（5）, disk is coaxially housed on wheel（6）, disk（6）Uniform magnet steel is housed at periphery
（3）And Hall sensor（7）, front wheel（5）With the driving wheel at rear portion（11）Between vehicle frame on be equipped with battery（2）, car
The rear portion both sides of frame are provided with symmetrical two mutually isostructural lowering or hoisting gears, and the structure of each lowering or hoisting gear is, support（10）
With the gear for driving arm ascending, descending on vehicle frame（14）It is connected, gear（14）With the motor on vehicle frame
（12）It is connected, motor（12）It is to be made up of the first motor and the second motor for being attached separately to vehicle frame arranged on left and right sides, support
（10）Lower end is equipped with support castor（8）, contact to earth switch（20）And limit switch（9）, support（10）Opened provided with upper limit on top
Close（13）, gear（14）Side is equipped with rack（15）, rack（15）With support（10）It is fixed together, motor（12）And control
Device processed（4）It is connected, control device（4）Pass through the first wire（16）With battery（2）It is connected, control device（4）Pass through second
Wire（17）With motor（12）It is connected, control device（4）Pass through privates（18）With limit switch（9）It is connected, control
Device（4）Pass through privates（19）With upper limit position switch（13）It is connected, control device（4）Pass through the 5th wire（21）With contacting to earth
Switch（20）It is connected, control device（4）Single-chip microcomputer IC through photoelectric coupler isolation, be connected with the first end of FET, field
Second end of effect pipe and motor（12）It is connected, the 3rd end of FET is connected with battery, the one of photoelectrical coupler
End is connected with battery, and three terminal regulator VRL that single-chip microcomputer IC is concatenated, DC diode are connected with battery, hall sensing
Device（7）With control device（4）It is connected, control device（4）Control motor（12）Forward or reverse, motor（12）Band
Moving gear（14）Forward or reverse, gear（14）Pass through rack（15）Drive support（10）Ascending, descending, constitute autobalance liter
Supporting structure drops；
The balance sensor U11 of control device output signal is with terrestrial gravitation direction, automatic detection and output and terrestrial gravitation
The voltage signal of direction deviation angle, when vehicle frame is tilted to the left, balance sensor U11 12 pin output is less than balanced voltage
Signal, the processing through operational amplifier U10 exports high level signal by operational amplifier U10 8 pin, operational amplifier U10's
8 pin are connected with single-chip microcomputer IC 2 pin, and single-chip microcomputer IC 2 pin receive high level signal, the first motor reversal of control and the second electricity
Machine rotates forward slight distance, drives left side brackets to decline slight distance and right side support rising slight distance by gear, makes vehicle frame
Slight distance is moved to the right, when vehicle frame is still not up to balanced, is proceeded as described above, until balance sensor U11 outputs are equal to
The signal of balanced voltage, so far vehicle body reach balance；When vehicle frame is tilted to the right, balance sensor U11 12 pin output is higher than
The signal of balanced voltage, through operational amplifier U10 processing, exports high level signal, computing is put by operational amplifier U10 14 pin
Big device U10 14 pin are connected with single-chip microcomputer IC 3 pin, and single-chip microcomputer IC 3 pin receive high level signal, and the first motor of control is just
Turn and the second motor reversal slight distance, by gear drive left side brackets rise slight distance and right side support decline it is small away from
From, vehicle frame is moved slight distance to the left, when vehicle frame still not up to balance, proceed as described above, until balance sensor U11
Output is equal to the signal of balanced voltage, and vehicle body reaches balance, realizes the autobalance lifting support of enclosed type two wheel carriage.
2. enclosed type two wheel carriage autobalance according to claim 1 lifts support system, it is characterised in that described
Control device（4）It is to be made up of housing and its control circuit, control circuit includes single-chip microcomputer IC, FET and photoelectric coupling
Device, FET includes the first FET Q1, the second FET Q2, the 3rd FET Q3, the 4th FET Q4, the
Five FET Q5, the 6th FET Q6, the 7th FET Q7 and the 8th FET Q8；Photoelectrical coupler includes first
Photoelectrical coupler U1, the second photoelectrical coupler U2, the 3rd photoelectrical coupler U3, the 4th photoelectrical coupler U4, the 17 of single-chip microcomputer IC
Resistance R18, the first photoelectrical coupler U1 of ground connection and resistance R4 and the first FET Q1 and the 3rd field-effect that pin is concatenated
Pipe Q3 grid is connected, resistance R4 ground connection, and the first FET Q1 and the 3rd FET Q3 drain electrode are connected and and the first electricity
1 pin of machine is connected, and the first FET Q1 and the 3rd FET Q3 source electrode are connected with the both positive and negative polarity of battery respectively, and first
Photoelectrical coupler U1 meets dc source VCC；
Resistance R19, the second photoelectrical coupler U2 of ground connection and resistance R3 and the second field-effect that single-chip microcomputer IC 16 pin are concatenated
Pipe Q2 and the 4th FET Q4 grid are connected, resistance R3 ground connection, the second FET Q2 and the 4th FET Q4 leakage
Extremely it is connected and is connected with 2 pin of the first motor, the second FET Q2 and the 4th FET Q4 source electrode is respectively and battery
Both positive and negative polarity be connected, the second photoelectrical coupler U2 meets dc source VCC；First motor is through the first FET Q1 in parallel, the
Three FET Q3 and the second FET Q2, the 4th FET Q4 in parallel meet motor power socket P4；
Resistance R20, the 3rd photoelectrical coupler U3 of ground connection and resistance R2 and the 5th field-effect that single-chip microcomputer IC 15 pin are concatenated
Pipe Q5 and the 7th FET Q7 grid are connected, resistance R2 ground connection, the 5th FET Q5 and the 7th FET Q7 leakage
Extremely it is connected and is connected with 1 pin of the second motor, the 5th FET Q5 and the 7th FET Q7 source electrode is respectively and battery
Both positive and negative polarity be connected, the 3rd photoelectrical coupler U3 meets dc source VCC；
Resistance R21, the 4th photoelectrical coupler U4 of ground connection and resistance R1 and the 6th field-effect that single-chip microcomputer IC 14 pin are concatenated
Pipe Q6 and the 8th FET Q8 grid are connected, resistance R1 ground connection, the 6th FET Q6 and the 8th FET Q8 leakage
Extremely it is connected and is connected with 2 pin of the second motor, the 6th FET Q6 and the 8th FET Q8 source electrode is respectively and battery
Both positive and negative polarity be connected, the 4th photoelectrical coupler U4 meets dc source VCC；Second motor is through the 5th FET Q5 in parallel, the
Seven FET Q7 and the 6th FET Q6, the 8th FET Q8 in parallel meet motor power socket P4；
Single-chip microcomputer IC 13 pin are connected with the lower position switch S1 of the first motor one end, lower position switch S1 other ends ground connection；
Single-chip microcomputer IC 12 pin are connected with the upper limit position switch S2 of the first motor one end, upper limit position switch S2 other ends ground connection；
Single-chip microcomputer IC 11 pin are connected with the lower position switch S3 of the second motor one end, lower position switch S3 other ends ground connection；
Single-chip microcomputer IC 19 pin are connected with the upper limit position switch S4 of the first motor one end, upper limit position switch S4 other ends ground connection；
One end that single-chip microcomputer IC 6 pin switch S6 with the tread surface of the first motor is connected, tread surface switch S6 other end ground connection, single
Piece machine IC 6 pin are connected with resistance R27, and resistance R27 is connected with triode Q9 base stages, triode Q9 grounded emitter, current collection
Pole contact relay K1 5 pin, relay K1 1 pin and 4 pin meet dc source VCC, and relay K1 2 pin connect right side indicator lamp and inserted
Seat P1, right side indicator lamp is contacted for indicating whether the first motor drops to ground；
One end that single-chip microcomputer IC 18 pin switch S7 with the tread surface of the second motor is connected, tread surface switch S7 other end ground connection,
Single-chip microcomputer IC 8 pin are connected with resistance R28, and resistance R28 is connected with triode Q10 base stages, triode Q10 grounded emitter,
Collector connecting relay K2 5 pin, relay K2 1 pin and 4 pin meet dc source VCC, and relay K2 2 pin connect left side and indicated
Lamp socket P2, left side indicator lamp is contacted for indicating whether the second motor drops to ground；
Single-chip microcomputer IC 9 pin are connected with ground capacity C6, electric capacity C8 in parallel, and through three terminal regulator VRL and ground connection in parallel
Electric capacity C5, electric capacity C7, power supply VCC are connected with diode D5 negative pole, and diode D5 positive pole connects battery through power outlet P3；
Single-chip microcomputer IC 10 pin are grounded through electric capacity C4, locking switch S5 in parallel；Single-chip microcomputer IC 20 pin connect Hall sensor（7）
Socket P5 3 pin and resistance R9 one end, the resistance R9 other end and resistance R8, resistance R7, resistance R6 one end, resistance
R5, resistance R10, Hall sensor（7）1 pin and single-chip microcomputer IC 9 pin be connected, and through electric capacity C2 be grounded, Hall sensor
（7）2 pin ground connection, single-chip microcomputer IC 7 pin ground connection, 5 pin are connected through resistance R43 with triode Q11 base stage, triode Q11's
Grounded emitter, colelctor electrode connects buzzer LS1 one end, and the buzzer LS1 other ends are connected with single-chip microcomputer IC 9 pin, single-chip microcomputer
The IC 1 pin connecting resistance R6 other ends；
Balance sensor U11 3,5,6,7 pin ground connection, 14,15 pin connect operational amplifier U10 4 pin and three terminal regulator VRL
3 pin, balance sensor U11 12 pin connecting resistance R32, resistance R32 connecting resistances R33 one end and operational amplifier U10 2 pin,
Resistance R33 another termination operational amplifier U10 1 pin, 10 pin and 13 pin, operational amplifier U10 8 pin connect single-chip microcomputer IC's
2 pin, operational amplifier U10 14 pin connect single-chip microcomputer IC 3 pin, 9 pin connecting resistance R36 one end and resistance R38 one end, resistance
Another termination three terminal regulator VRL of R36 3 pin, resistance R38 another termination operational amplifier U10 12 pin and resistance R37's
One end, resistance R37 other end ground connection, operational amplifier U10 11 pin, 3 pin ground connection, three terminal regulator VRL 1 pin is through two poles
Pipe D5 meets power outlet P3,
Described motor is direct current generator or stepper motor.
3. enclosed type two wheel carriage autobalance according to claim 2 lifts support system, it is characterised in that described
First FET Q1, the second FET Q2, the 5th FET Q5, the 6th FET Q6 models are FQP36P15,
3rd FET Q3, the 4th FET Q4, the 7th FET Q7 and the 8th FET Q8 model FQP90N15.
4. enclosed type two wheel carriage autobalance according to claim 1 lifts support system, it is characterised in that the list
Piece machine IC models STM8S103F.
5. enclosed type two wheel carriage autobalance according to claim 1 lifts support system, it is characterised in that described flat
Weigh sensor U11 model ADXL335, or balance sensor U11 is gyroscope.
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| CN201510950974.0A CN105383592B (en) | 2015-12-19 | 2015-12-19 | A kind of enclosed type two wheel carriage autobalance lifts support system |
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| CN201510950974.0A CN105383592B (en) | 2015-12-19 | 2015-12-19 | A kind of enclosed type two wheel carriage autobalance lifts support system |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105752210A (en) * | 2016-04-13 | 2016-07-13 | 阮自恒 | Automatic jacking double-foot of two-wheel vehicle |
| CN106515957A (en) * | 2016-08-17 | 2017-03-22 | 尚艳燕 | Electric balance car |
| CN106184531A (en) * | 2016-08-17 | 2016-12-07 | 尚艳燕 | A kind of electrodynamic balance car |
| CN106275169A (en) * | 2016-08-17 | 2017-01-04 | 尚艳燕 | A kind of electrodynamic balance car |
| CN106267789A (en) * | 2016-08-17 | 2017-01-04 | 尚艳燕 | A kind of electrodynamic balance car |
| CN106184530A (en) * | 2016-08-17 | 2016-12-07 | 尚艳燕 | A kind of electrodynamic balance car |
| WO2018032397A1 (en) * | 2016-08-17 | 2018-02-22 | 尚艳燕 | Self-balancing electric vehicle |
| CN106741439A (en) * | 2017-01-04 | 2017-05-31 | 尹良友 | Electric motor car with two wheels |
| CN108375981B (en) * | 2018-02-11 | 2020-10-02 | 陕西理工大学 | Electromagnetic intelligent vehicle |
| CN111284586A (en) * | 2020-03-25 | 2020-06-16 | 蚌埠学院 | Electronic parking control module of automatic parking system of electric moped |
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| CN2255941Y (en) * | 1995-09-19 | 1997-06-11 | 邬大勋 | two-wheel motorcycle supporting device with dynamic balance function |
| WO2011138815A2 (en) * | 2010-05-06 | 2011-11-10 | Massimo Lazzari | Two-wheeled vehicle |
| CN104176177A (en) * | 2014-09-03 | 2014-12-03 | 封明信 | Automatic lifting support for closed two-wheeled car |
| KR20150003103U (en) * | 2014-02-06 | 2015-08-17 | 전춘수 | Assistance wheel device of autocycle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004082903A (en) * | 2002-08-28 | 2004-03-18 | Furuki Shinobu | Self-standing automatic vehicle |
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|---|---|---|---|---|
| CN2255941Y (en) * | 1995-09-19 | 1997-06-11 | 邬大勋 | two-wheel motorcycle supporting device with dynamic balance function |
| WO2011138815A2 (en) * | 2010-05-06 | 2011-11-10 | Massimo Lazzari | Two-wheeled vehicle |
| KR20150003103U (en) * | 2014-02-06 | 2015-08-17 | 전춘수 | Assistance wheel device of autocycle |
| CN104176177A (en) * | 2014-09-03 | 2014-12-03 | 封明信 | Automatic lifting support for closed two-wheeled car |
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