CN207000652U - A kind of two wheeler stabilizing control system - Google Patents
A kind of two wheeler stabilizing control system Download PDFInfo
- Publication number
- CN207000652U CN207000652U CN201720800691.2U CN201720800691U CN207000652U CN 207000652 U CN207000652 U CN 207000652U CN 201720800691 U CN201720800691 U CN 201720800691U CN 207000652 U CN207000652 U CN 207000652U
- Authority
- CN
- China
- Prior art keywords
- brake
- stability
- wheeler
- arm
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
It the utility model is related to two wheeler technical field, specially a kind of two wheeler stabilizing control system, including the steady wheel being arranged at left and right sides of two-wheeled back wheels of vehicle, the steady wheel is installed on wherein on one end of an arm of stability, the other end of the arm of stability is connected on a rotating turret, the rotating turret is attached on a stability contorting motor that can be rotated it, the stability contorting motor is also electrically connected on a systems stabilisation controller, the systems stabilisation controller is electrically connected on power supply unit, stability is more preferable, Discussing Convenience is higher, using more comfortable.
Description
Technical field
Two wheeler technical field is the utility model is related to, specially a kind of two wheeler stabilizing control system.
Background technology
Existing two wheeler, such as the vehicles of two wheels such as electric motor car with two wheels, two-wheeled fuel vehicle or haulagman
Tool etc., because its traffic efficiency is high, load ratio is big, and floor space is few, is the vehicles ridden instead of walk, transported of high-efficiency environment friendly.But
Because the two wheeler of in the market all supports ground to balance in low speed, parking by pin, so, exist in the use of two wheeler
Three problems：To legs and feet, inconvenient people can not use；Because its stability is poor, the people of some balanced capacities difference is learnt to drive increasing
Difficulty is added；Because stability is poor, totally enclosed canopy can not be done, when it is cold, rainy day bicyclist feels bad very much.So it is badly in need of one
Kind stability contorting is more preferable, has more comfortable two wheeler.
Utility model content
The purpose of this utility model is to provide that a kind of stability is more preferable, Discussing Convenience is higher, using more comfortable two wheeler
Stabilizing control system and control method.
Above-mentioned technical purpose of the present utility model technical scheme is that：A kind of two wheeler is stable to be controlled
System processed, including the steady wheel at left and right sides of two-wheeled back wheels of vehicle is arranged on, the steady wheel is installed on wherein the one of an arm of stability
On end, the other end of the arm of stability is connected on a rotating turret, and the rotating turret is attached to one, and can be rotated it steady
Surely control on motor, the stability contorting motor is also electrically connected on a systems stabilisation controller, the stability series
System controller is electrically connected on power supply unit.
In above-mentioned technical proposal, the operation of stability contorting motor is controlled by systems stabilisation controller, can be caused
The arm of stability swings up and down, so as to which steady wheel can also be swung up and down so that steady wheel is in different height, reaches not
Same secondary status, to cause the stability of two wheeler higher, operability is higher, meanwhile, car body design can be caused more
Optimization, comfortableness can significant increases.
As to of the present utility model preferred, the systems stabilisation controller has also been electrically connected for detecting vehicle angle
The vehicle angular transducer of degree and the velocity sensor for detecting speed.
As to it is of the present utility model preferably, install and be connected between the rotating turret and the stability contorting motor
Worm type of reduction gearing.
As to of the present utility model preferred, the systems stabilisation controller is also electrically connected with for detecting the worm gear snail
The turbine sensor of the turbine angle of bar decelerator.
Preferably, in the arm of stability there is the cavity for leading to the steady wheel, the cavity as to of the present utility model
In be provided with and act on the brake of the steady wheel, the brake is connected in a brake.
As to of the present utility model preferred, the brake includes the braking reset being connected with the brake
Brake bar that spring, the brake return spring are connected with back to brake one end, the brake bar are back to brake return spring
One end be provided with for it in the braking drive organ retreated towards brake return spring direction.
As to of the present utility model preferred, the braking drive organ includes to hand over the brake bar advance and retreat direction
The side of fork moves up and passes in and out the movable block of the cavity, one end is installed on the inwall that the arm of stability is located at the cavity
The upper and other end can be acted on to the mobile back-moving spring of the movable block and the confession shifting being arranged on the outside of the arm of stability
Motion block against stop limited block, the through hole for movable block disengaging is offered on the arm of stability, is leaned on the movable block
Have on the brake bar side and intersect with the movable block disengaging cavity direction and be located at the brake bar back to braking
The inclined plane that back-moving spring one end is retreated for brake bar.
As to of the present utility model preferred, the movable block is located at the inclined plane, is provided with guide rail, the braking
Bar is located at its backrest and the guide groove that the guide rail is engaged is arranged to the opening position of brake return spring one end.
As to it is of the present utility model preferably, the arm of stability be located at the cavity be also equipped with supply the brake bar or
The guide ring that person's brake is retreated.
A kind of control method based on above-mentioned two wheeler stabilizing control system, comprises the following steps：
Step S1, systems stabilisation controller send control instruction to stability contorting motor；
Step S2, stability contorting motor drive stable arm swing to control the balance of two wheeler according to control instruction.
The beneficial effects of the utility model：By increasing assistant stability system, the stability of two wheeler is improved, so that two
Car energy autobalance is taken turns, so as to accomplish whenever two wheeler does not all need pin to balance, so as to accomplish：1. legs and feet inconvenience
People can use；2. it is easy to the driving car of two wheeler；3. it can accomplish totally-enclosed；4. automatic parking, use is more comfortable, is applicable
Crowd is more, and stability is higher, basis is safe and reliable, and structure is also further optimized, and controllability is stronger.
Brief description of the drawings
Fig. 1 is the front view of the utility model embodiment；
Fig. 2 is the top view of the utility model embodiment；
Fig. 3 is structural representation of the arm of stability of the utility model embodiment in parked state；
Fig. 4 is structural representation of the arm of stability of the utility model embodiment in auxiliary balance transport condition；
Fig. 5 is the structural representation of the normally travel state of the utility model embodiment；
Fig. 6 is the structural representation of the auxiliary balance transport condition of the utility model embodiment；
Fig. 7 is the structural representation of the parked state of the utility model embodiment.
In figure：1st, two-wheeled back wheels of vehicle, 2, steady wheel, 3, the arm of stability, 4, rotating turret, 5, stability contorting motor, 6, steady
Determine system controller, 7, power supply unit, 45, worm type of reduction gearing, 20, cavity, 21, brake, 22, brake return spring,
23rd, brake bar, 24, movable block, 25, mobile back-moving spring, 26, stop limited block, 27, through hole, 240, inclined plane, 28, be oriented to
Ring.
Embodiment
Specific examples below is only to explanation of the present utility model, and it is not to limitation of the present utility model, sheet
Art personnel can make the modification of no creative contribution to the present embodiment as needed after this specification is read,
But as long as all protected in right of the present utility model by Patent Law.
Embodiment, as shown in Fig. 1,2,3,4,5,6,7, a kind of two wheeler stabilizing control system, including it is arranged on two wheeler
The steady wheel 2 of the left and right sides of trailing wheel 1, the steady wheel 2 are installed on wherein on one end of an arm of stability 3, the arm of stability 3 it is another
One end is connected on a rotating turret 4, and the rotating turret 4 is attached on a stability contorting motor 5 that can be rotated it,
The stability contorting motor 5 is also electrically connected on a systems stabilisation controller 6, and the systems stabilisation controller 6 electrically connects
To power supply unit 7.Wherein, power supply unit 7 can use the existing conventional equipment for providing electric energy such as battery, and steady wheel 2 can be with
Two are only set, is separately positioned on the left and right sides of two-wheeled back wheels of vehicle 1, each steady wheel can configure an arm of stability 3, and this two
The arm of stability 3 also respectively in the left and right sides of two-wheeled back wheels of vehicle 1, is then connected, passed through by the individual arm of stability 3 by rotating turret 4
The control of systems stabilisation controller 6, hair control command is to stability contorting motor 5 so that stability contorting motor 5 starts
Operating, drive the operating of rotating turret 4 so that the arm of stability 3 can be swung up and down, so as to change the position of steady wheel 2, when normal row
State is sailed, can be without stability contorting, it is to be placed on steady wheel 2 that systems stabilisation controller 6, which controls stability contorting motor 5,
Eminence, in vacant state, travelled just as common two wheeler；And when speed becomes very low or car angle of inclination is larger
When, it is considered as unstable state, may overturns, related parameter is obtained by the test of various sensors so that systems stabilisation
Controller 6 makes control instruction according to these parameters, it is desirable to which the bottom of the arm of stability 3, steady wheel 2 can then contact ground, that is, now
Steady wheel 2 and two-wheeled back wheels of vehicle 1 are all contact ground, and keep transport condition, and this state is properly termed as auxiliary balance traveling
State；So when parking is needed, as long as putting the arm of stability 3 lower, two-wheeled back wheels of vehicle 1 will be propped so that two
Wheel back wheels of vehicle 1 leaves ground, just can be in parked state.In the application, systems stabilisation controller 6 can use existing control
Device SCU.
Further, the vehicle angle that the systems stabilisation controller 6 is also electrically connected for detecting vehicle angle passes
Sensor and the velocity sensor for detecting speed, tilted when what vehicle angular transducer was used to test is two wheeler traveling
Angle when upright traveling, namely the angle between the existing angle of existing vehicle and vertical plane, this angle is bigger, explanation
Inclination is more severe, more unstable；
Installation is connected with worm type of reduction gearing 45 between the rotating turret 4 and the stability contorting motor 5, enters one
Step optimization structure, ensure the validity of transmission；
The systems stabilisation controller 6 is also electrically connected with the turbine angle for detecting the worm type of reduction gearing 45
Turbine sensor, more reference parameters are provided for systems stabilisation controller 6, preferably to carry out stability contorting.
In addition, rotating turret 4, stability contorting motor 5, worm type of reduction gearing 45, various sensors etc. are all can be with
On vehicle frame.
In addition, to further being designed at the arm of stability 3：
There is in the arm of stability 3 cavity 20 for leading to the steady wheel 2, be provided with the cavity 20 act on it is described steady
The brake 21 of fixed wheel 2, the brake 21 are connected in a brake, are caused in the design, can be with when parking
Steady wheel 2 is braked by brake 21, it is easier to stop the traveling of two wheeler, but need excellent to total progress
Change, because in auxiliary balance transport condition, steady wheel 2 is to be in on-position；
The brake includes brake return spring 22, the braking reset bullet being connected with the brake 21
Brake bar 23 that spring 22 is connected with back to the one end of brake 21, the brake bar 23 are provided with back to the one end of brake return spring 22
For it in the braking drive organ retreated towards the direction of brake return spring 22；
The braking drive organ includes to move up and pass in and out in the side intersected with the advance and retreat direction of brake bar 23
The movable block 24 of the cavity 20, one end are installed on the inwall that the arm of stability 3 is located at the cavity 20 and the other end can
Act on to the mobile back-moving spring 25 of the movable block 24 and the confession movable block 24 being arranged on the outside of the arm of stability 3 and supporting
The stop limited block 26 leaned on, offers the through hole 27 for the movable block 24 disengaging on the arm of stability 3, on the movable block 24
Pass in and out the direction of cavity 20 by having on the side of brake bar 23 with the movable block 24 and intersect and be located at the brake bar
23 inclined planes 240 retreated back to the one end of brake return spring 22 for brake bar 23.Stop that limited block 26 can be arranged on car
On frame.
This whole arm of stability 3 and the design for stopping limited block 26, the essential of exercise, are：When two wheeler appearance is unstable
State, it is necessary to carry out auxiliary balance traveling such as when running at a low speed, then the arm of stability 3 can the bottom, after steady wheel 2 and two wheeler
Wheel 1 is all to be operated, and now, brake 21 will not brake steady wheel 2 when design, that is, stopping limited block 26
Movable block 24 will not be propped up toward pushing away in cavity 20, and when needing to carry out parking, the arm of stability 3 may proceed to the bottom, now, mobile
Block 24, which can be encountered, stops limited block 26 so that the compression of movable block 24 enters in cavity 20, due to having the presence of inclined plane 240, meeting
So that brake bar 23 moves down and compression brake back-moving spring 22, brake 21 is then acted on, last brake 21 is to steady wheel 2
Braked, not only propped two-wheeled back wheels of vehicle 1, and also function to the effect of brake, be the equal of the parking effect of automobile, hindered
Only two wheeler travel, certainly, normally travel state, when the arm of stability 3 does not have the bottom, inclined plane 240 apart from brake 21
Far-end be against brake bar 23, so, the bottom, when carrying out parking, the mobile inclined plane that can just allow of movable block 24
240 proximal end abuts against brake bar 23 and just has the effect for make it that brake bar 23 advances, and brake 21 could be allowed to play effect.
For further being designed at the arm of stability：The movable block 24 is located at the inclined plane 240, is provided with and leads
Rail, what the brake bar 23 was located at that its backrest is arranged at that the guide rail is engaged to the opening position of the one end of brake return spring 22 leads
Groove；
The arm of stability 3 is located to be also equipped with leading for what the brake bar 23 or brake 21 were retreated at the cavity 20
To ring 28；
In addition, the arm of stability 3 can start to pass in and out the chute of cavity 20 for movable block 24, then phase should be set on movable block 24
The sliding bar answered, on the one hand ensure mobile direction, on the one hand also to can guarantee that, movable block 24 can have necessarily on the arm of stability 3
Support, further optimize structure.
A kind of control method based on above-mentioned two wheeler stabilizing control system, comprises the following steps：
Step S1, systems stabilisation controller 6 send control instruction to stability contorting motor 5；
Step S2, stability contorting motor 5 drive the arm of stability 3 to swing to control the flat of two wheeler according to control instruction
Weighing apparatus.
Step S1 realization will also need the acquisition of various parameters, such as vehicle angle, speed etc., these parameters to issue surely
Determine system controller 6 to allow it to be judged and send instruction, can also manual operation systems stabilisation controller 6 send control and refer to
Order, to be controlled to stability contorting motor 5, then adjusts the position of steady wheel 2 to complete by swinging the arm of stability 3
Various balance plays, several situations are described below：
1. when speed is less than speed threshold value V, then it is considered as unstable state, systems stabilisation controller 6 sends control instruction,
The auxiliary balance transport condition run at a low speed is sought, then stability contorting motor 5 is driven, the bottom of the arm of stability 3, steady wheel 2
Ground is contacted, auxiliary is travelled, and reaches auxiliary balance transport condition；
2. working as, speed is more than or equal to speed threshold value V and vehicle angle is more than angle of inclination threshold alpha, then is considered as unstable shape
State, systems stabilisation controller 6 send control instruction, it is desirable to tilt the auxiliary balance transport condition of traveling, then stability contorting drives
Motor 5 is driven, the bottom of the arm of stability 3, and steady wheel 2 contacts ground, and auxiliary is travelled, and reaches auxiliary balance transport condition；
3. working as, speed is more than or equal to speed threshold value V and vehicle angle is less than angle of inclination threshold alpha, then is considered as stable state,
Two wheeler is in normally travel state.
Speed threshold value V and angle of inclination threshold alpha can be set in advance according to car shape, size, power of vehicle etc..
, can be with driver directly to 6 one control instruction signals of systems stabilisation controller, surely in addition, when needing parking
Determine system controller 6 and send instruction stability contorting motor 5, the bottom of the arm of stability 3 is until cause two-wheeled back wheels of vehicle 1 to leave ground
Face, it is obstructed when the arm of stability 3, which is encountered, stops limited block 26, and can brakes steady wheel 2, it is impossible to is rotated, so as to reach parking
Effect.
And when car needs traveling, can be stable with driver directly to 6 one control instruction signals of systems stabilisation controller
System controller 6 sends instruction stability contorting motor 5 so that is put on the arm of stability 3 in parked state, trailing wheel is contiguously
Face, two wheeler reach transport condition, and the brake 21 of steady wheel 2 loses braking action, steady wheel 2 is freely rotated, become
Low-speed running state, when speed uprises, continue the upper pendulum arm of stability 3 so that steady wheel 2 departs from ground, is returned to normally travel shape
State.
Claims (9)
- A kind of 1. two wheeler stabilizing control system, it is characterised in that：Including being arranged on two-wheeled back wheels of vehicle（1）The stabilization of the left and right sides Wheel（2）, the steady wheel（2）It is installed on an arm of stability（3）Wherein on one end, the arm of stability（3）The other end be connected to One rotating turret（4）On, the rotating turret（4）It is attached to a stability contorting motor that can be rotated it（5）On, it is described Stability contorting motor（5）It is also electrically connected to a systems stabilisation controller（6）On, the systems stabilisation controller（6）It is electrically connected It is connected to power supply unit（7）On.
- A kind of 2. two wheeler stabilizing control system according to claim 1, it is characterised in that：The systems stabilisation controller （6）Also it is electrically connected the vehicle angular transducer for detecting vehicle angle and the velocity sensor for detecting speed.
- A kind of 3. two wheeler stabilizing control system according to claim 2, it is characterised in that：The rotating turret（4）And institute State stability contorting motor（5）Between installation be connected with worm type of reduction gearing（45）.
- A kind of 4. two wheeler stabilizing control system according to claim 3, it is characterised in that：The systems stabilisation controller （6）Also it is electrically connected with for detecting the worm type of reduction gearing（45）Turbine angle turbine sensor.
- A kind of 5. two wheeler stabilizing control system according to claim 1, it is characterised in that：The arm of stability（3）Interior tool Have and lead to the steady wheel（2）Cavity（20）, the cavity（20）In be provided with act on the steady wheel（2）Brake （21）, the brake（21）It is connected in a brake.
- A kind of 6. two wheeler stabilizing control system according to claim 5, it is characterised in that：The brake bag Include and the brake（21）Connected brake return spring（22）, the brake return spring（22）Back to brake（21）One Hold the brake bar being connected with（23）, the brake bar（23）Back to brake return spring（22）The confession that one end is provided with its towards system Dynamic back-moving spring（22）The braking drive organ that direction is retreated.
- A kind of 7. two wheeler stabilizing control system according to claim 6, it is characterised in that：The braking drive organ bag Include can with the brake bar（23）The side that advance and retreat direction intersects moves up and passes in and out the cavity（20）Movable block（24）、 One end is installed on the arm of stability（3）Positioned at the cavity（20）On the inwall at place and the other end can be acted on to the movable block （24）Mobile back-moving spring（25）And it is arranged on the arm of stability（3）The confession movable block in outside（24）Against stop Limited block（26）, the arm of stability（3）On offer for the movable block（24）The through hole of disengaging（27）, the movable block（24） It is upper to lean on the brake bar（23）Have and the movable block on side（24）Pass in and out the cavity（20）Direction is intersecting and is located at institute State brake bar（23）Back to brake return spring（22）One end is for brake bar（23）The inclined plane of advance and retreat（240）.
- A kind of 8. two wheeler stabilizing control system according to claim 7, it is characterised in that：The movable block（24）It is located at The inclined plane（240）Place, is provided with guide rail, the brake bar（23）Positioned at its backrest to brake return spring（22）One end Opening position is arranged at the guide groove that the guide rail is engaged.
- A kind of 9. two wheeler stabilizing control system according to claim 6, it is characterised in that：The arm of stability（3）It is located at The cavity（20）Place is also equipped with supplying the brake bar（23）Or brake（21）The guide ring of advance and retreat（28）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720800691.2U CN207000652U (en) | 2017-07-04 | 2017-07-04 | A kind of two wheeler stabilizing control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720800691.2U CN207000652U (en) | 2017-07-04 | 2017-07-04 | A kind of two wheeler stabilizing control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207000652U true CN207000652U (en) | 2018-02-13 |
Family
ID=61452226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720800691.2U Expired - Fee Related CN207000652U (en) | 2017-07-04 | 2017-07-04 | A kind of two wheeler stabilizing control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207000652U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284554A (en) * | 2017-07-04 | 2017-10-24 | 浙江长兴德纳克斯动力科技有限公司 | A kind of two wheeler stabilizing control system and control method |
-
2017
- 2017-07-04 CN CN201720800691.2U patent/CN207000652U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284554A (en) * | 2017-07-04 | 2017-10-24 | 浙江长兴德纳克斯动力科技有限公司 | A kind of two wheeler stabilizing control system and control method |
| CN107284554B (en) * | 2017-07-04 | 2024-02-02 | 浙江长兴德纳克斯动力科技有限公司 | Two-wheel vehicle stability control system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204527457U (en) | A kind of self-balancing two-wheeled vehicle | |
| CN102341298B (en) | Two-wheeled inverted pendulum device, method for controlling same, and control program | |
| CN101959749B (en) | Coaxial two-wheel vehicle and method for controlling same | |
| CN104494749A (en) | Electric self-balancing two-wheeled vehicle | |
| CN104494750A (en) | Two-wheel self-balancing vehicle | |
| CN205186405U (en) | Mini electric automobile that rides instead of walk | |
| CN205273743U (en) | Surfing formula balance car | |
| CN205022785U (en) | Electric vehicle | |
| CN204527462U (en) | A kind of electronic self-balancing type two-wheel car | |
| CN207000652U (en) | A kind of two wheeler stabilizing control system | |
| CN104527878B (en) | Self-balancing electric double-wheel vehicle | |
| CN102530146A (en) | Small wheel diameter two-wheel vehicle | |
| CN203612144U (en) | Energy-saving environment-friendly balance car | |
| CN210162184U (en) | Drift car using differential steering | |
| CN204527463U (en) | The device with pedal of the self-balancing wheelbarrow that a kind of center of gravity regulates automatically | |
| CN204473001U (en) | Slide type balance truck | |
| CN103803004B (en) | A kind of accurate electric motor car with two wheels | |
| CN110733356A (en) | two-wheeled golf cart navigation balance control system and golf cart | |
| KR20170116355A (en) | Apparatus and methods for control of a vehicle by gyroscope | |
| CN107284554A (en) | A kind of two wheeler stabilizing control system and control method | |
| CN205498648U (en) | Electric scooter gravity sensor control system | |
| CN211493672U (en) | Two-wheeled golf bag car navigation balance control system and ball bag car | |
| CN204527438U (en) | A kind of device with pedal with the self-balancing wheelbarrow of center of gravity automatic regulation function | |
| CN204801969U (en) | Stand -type full foot control electric motor car | |
| CN208470038U (en) | Folding electric bicycle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180213 Termination date: 20210704 |