Intelligent self-balancing electric double support and vehicle comprising same

Abstract

The invention discloses an intelligent self-balancing electric double support and a vehicle comprising the same. The intelligent self-balancing electric double support comprises two auxiliary support sets which are independently installed and work; each auxiliary supporting group comprises a mounting frame, a gear box, a stepping motor, a supporting leg and an auxiliary wheel; the mounting frame is provided with a position adjusting structure capable of adjusting the mounting position, and the mounting frame is connected to a bottom fork structure of the vehicle through the position adjusting structure. The mounting frame is further provided with an angle adjusting structure used for adjusting the mounting angle, and the gearbox is connected to the mounting frame through the angle adjusting structure so as to adjust the angle of the gearbox. The stepping motor is installed on the gearbox, the supporting legs are installed on the gearbox, and the stepping motor is provided with a planetary gear set used for driving the supporting legs to rotate. The stepping motor is provided with a Hall sensor used for recording the number of rotating steps. The auxiliary wheels are installed at the ends of the supporting legs. The electric vehicle can adapt to multiple vehicle types, the stepping motor independently controls the supporting legs, and the electric vehicle can slide and park on the uneven ground.

Description

Technical Field

[0001] The invention relates to an electric vehicle double support, in particular to an intelligent self-balancing electric double support and a vehicle comprising the double support. Background Art

[0002] The electric double outriggers of electric vehicles are controlled by motors and can assist in riding and parking. At present, the installation position of the electric double outriggers is fixed and cannot adapt to all models. Most of them are driven by one motor to move the two outriggers, and the two outriggers move forward and backward at the same time. It is impossible to keep the vehicle stable when parking on uneven ground. In addition, the existing technology cannot accurately determine the contact position of the auxiliary wheels and the precise position of the propping state, which poses potential safety risks during use. Summary of the invention

[0003] In order to solve the defects of the above-mentioned prior art, the present invention provides an intelligent self-balancing electric double strut and a vehicle including the double strut. The present invention can adapt to more vehicle models. The stepper motor independently controls the legs, can slide and park on uneven ground, and can automatically adjust the stability during driving according to different low-speed riding road environments to keep the vehicle running smoothly. When parking, the double strut lifts the wheels off the ground. According to the height of the ground, the double strut can automatically adjust the position change to keep the vehicle in a horizontal state.

[0004] To achieve the above technical objectives, the present invention adopts the following technical solutions: an intelligent self-balancing electric double support, including two sets of auxiliary support groups, the two sets of auxiliary support groups are independently installed and work independently; each set of the auxiliary support group includes a mounting frame, a gear box, a stepper motor, a leg, and an auxiliary wheel; The mounting frame is provided with a position adjustment structure capable of adjusting the mounting position, and the mounting frame is connected to the flat fork structure of the vehicle through the position adjustment structure; The mounting frame is also provided with an angle adjustment structure for adjusting the mounting angle, and the gear box is connected to the mounting frame through the angle adjustment structure to adjust the angle of the gear box; The stepper motor is installed on the gear box, the legs are installed on the gear box, the stepper motor is provided with a planetary gear set for driving the legs to rotate; the stepper motor is provided with a Hall sensor for recording the number of rotation steps; The auxiliary wheels are mounted on the ends of the legs.

[0005] The mounting frame includes a bottom L plate, a top L plate, and an external mounting plate. The bottom L plate is arranged on the lower side of the flat fork structure, and the top L plate is arranged on the upper side of the flat fork structure. The bottom L plate and the top L plate are fastened to the flat fork structure by a first bolt, and the bottom L plate and the top L plate have overlapping parts, and a common hole is opened in the overlapping part. The top L plate also has a single hole separately opened. The external mounting plate has a fastening hole and an arc-shaped waist hole. The fastening hole is fastened to the common hole by a second bolt, and the arc-shaped waist hole is fastened to the single hole by a third bolt. The external mounting plate can adjust its own mounting angle according to the arc-shaped waist hole. The external mounting plate has an external mounting hole for fixedly connecting the gear box; the bottom L plate, the top L plate, and the first bolt form the position adjustment structure, and the external mounting plate, the arc-shaped waist hole, and the single hole form the angle adjustment structure.

[0006] The gear box includes an outer shell and an inner shell, and the outer shell and the inner shell are covered and connected to form a cavity inside, and a tooth plate is arranged in the cavity; the outer shell is provided with an external connecting column, and the inner shell is provided with an internal connecting column, the external connecting column corresponds to the internal connecting column, and is connected to the tooth plate by bolts; the inner shell is provided with a stepper motor shaft hole and a leg shaft hole, the stepper motor shaft hole is used to install the stepper motor shaft, the driving gear is installed on the stepper motor shaft, and the leg shaft is installed in the leg shaft hole, the tooth plate is a fan ring structure, the outer periphery of the tooth plate is provided with teeth and is meshed with the driving gear, the center of the tooth plate is connected to the leg shaft, and when the driving gear rotates, the tooth plate is driven to rotate with the leg shaft hole as the axis through meshing, thereby driving the leg shaft to rotate.

[0007] The tooth plate is provided with a stop structure on two radius edges, and the inner shell is provided with a limiting structure, and the limiting structure cooperates with the stop structure for limiting; the stop structure includes a stop arc groove and a stop straight edge, the stop arc groove is concave inward, the stop arc groove is close to the support leg shaft hole, and the stop straight edge is close to the teeth of the tooth plate; the limiting structure includes an internal connecting column and a limiting block, the internal connecting column is cylindrical to match the stop arc groove, and the surface of the limiting block is a plane to match the stop straight edge.

[0008] The gear box is made of flame-retardant plastic material, and oil seals are arranged at the shaft hole of the stepper motor and the shaft hole of the support leg.

[0009] The stepper motor includes a casing and a worm and a worm wheel arranged in the casing. The central axis of the worm wheel is connected to a sun gear, and the sun gear is meshed with three planetary gears. The casing is also provided with an internal gear, and the inner wall of the internal gear is meshed with the three planetary gears. The central axis serves as the stepper motor shaft for installing a drive gear.

[0010] The leg shaft of the leg is connected to the leg shaft hole, the auxiliary wheel is installed at the free end of the leg, and a splash-proof mud guard is also provided, and a horseshoe is provided at the edge of the splash-proof mud guard that contacts the ground.

[0011] The gear box is also provided with an upper cover.

[0012] A vehicle includes an intelligent self-balancing electric double prop.

[0013] In summary, the present invention has achieved the following technical effects: The stepper motor of the present invention adopts a worm gear with a planetary gear set to increase torque reliability and stability, and has a strong self-locking function. The stepper motor has a Hall sensor to record the number of steps, and the stepper motor adopts a waterproof and sealed design. The principles and advantages of the stepper motor are as follows: the working principle of the stepper motor is to detect the change of the magnetic field through the Hall sensor, and convert it into an electrical signal to drive the motor to operate. Compared with the traditional motor, the stepper motor has the following advantages: the stepper motor runs more smoothly and the noise is also smaller; high precision: the motor is driven to operate by detecting the change of the magnetic field, avoiding the error caused by the contact of the traditional motor; position and speed control: accurate position or speed control can be obtained through the encoder feedback mechanism, so as to achieve the soft feeling when the auxiliary wheel touches the ground and the accuracy when self-balancing, giving users an excellent sense of comfort and a strong safety experience, especially for the elderly and mothers when riding, assisted riding and parking are safer; The gearbox of the present invention adopts a waterproof and dustproof design, the output shaft is equipped with an oil seal, the oil seal is used for waterproofing, the gearbox material is flame-retardant plastic, high strength, high toughness, good high and low temperature resistance, low cost, and can be recycled; In the propped-up state, the horseshoe and the auxiliary wheel are supported horizontally and simultaneously, and when touching the ground, the wheels assist in sliding support; The waist groove of the mounting bracket of the present invention can be rotated to adjust the angle and the mounting position, and is suitable for flat fork structures of different angles, and can adjust the height of the gear box, and has wide applicability; The present invention adopts a unilateral independent suspension, which can achieve gyroscope self-balancing correction of the vehicle body. When parking on uneven roads, one of the supporting legs is straightened and the other leg assists, which assists in parking safety. The propped-up state is both safe and anti-theft. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the use of an intelligent self-balancing electric double support; Figure 2 is a schematic diagram of the mounting frame; Figure 3 This is a schematic diagram of the stepper motor, gearbox, and outrigger installation; Figure 4 It is a schematic diagram of the gearbox explosion; Figure 5 yes Figure 3 Schematic diagram behind; Figure 6 This is a schematic diagram of the stepper motor breakdown; Figure 7 This is a schematic diagram of the installation of the outriggers and gearbox; Figure 8 It is a schematic diagram of the plane touching the ground; Fig. 9 It is a schematic diagram of the state of touching the ground on uneven ground; Fig.10 It is a schematic diagram of the plane propping up state; Fig.11 It is a schematic diagram of the state of being supported on uneven ground. DETAILED DESCRIPTION

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0016] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0017] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0018] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0019] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0021] Example: Figure 1 The invention is a schematic diagram of the use of an intelligent self-balancing electric double support, which includes two sets of auxiliary support groups, which are independently installed and work independently; each set of the auxiliary support group includes a mounting frame 1, a gear box 2, a stepper motor 3, a leg 4, and an auxiliary wheel 5; The two sets of auxiliary support groups are installed and work independently, so that the legs on both sides can touch the ground or prop up at the same height or different heights to adapt to uneven ground. The present invention sets the two sets of auxiliary support groups as a single-sided independent suspension structure, which can achieve gyroscope self-balancing correction of the vehicle body. When parking on uneven roads, it can be driven separately to make one leg straighten and the other leg assist, which assists in parking safety. The propped-up state is both safe and anti-theft. In addition, the present invention can use the function of two stepper motors working independently to make one leg high and the other leg low, so that the vehicle itself can still be balanced on inclined or uneven ground to prevent it from tilting.

[0022] The mounting frame 1 is provided with a position adjustment structure capable of adjusting the mounting position, and the mounting frame 1 is connected to the vehicle's flat fork structure through the position adjustment structure; the mounting frame 1 is also provided with an angle adjustment structure for adjusting the mounting angle, and the gear box 2 is connected to the mounting frame 1 through the angle adjustment structure to adjust the angle of the gear box 2; the angle adjustment structure is adapted to various flat forks with different angles, so that the gear box as a whole is horizontal and vertical, so as to ensure that the left or right supporting leg is under vertical force when the vehicle is lifted, thereby reducing the pressure generated when the motor is blocked, and ensuring the durability and stability of the stepper motor.

[0023] Specifically, Figure 2 1 is a schematic diagram of a mounting frame, wherein the mounting frame 1 comprises a bottom L plate 101, a top L plate 102, and an external mounting plate 104, wherein the bottom L plate 101 is arranged at the lower side of the flat fork structure, and the top L plate 102 is arranged at the upper side of the flat fork structure, and the bottom L plate 101 and the top L plate 102 are fastened to the flat fork structure by a first bolt 103, and the bottom L plate 101 and the top L plate 102 have overlapping portions, and a common hole 107 is provided in the overlapping portions, and the top L plate 102 also has a single hole 108 provided separately, and the external mounting plate 104 has a fastening hole 105 and an arc-shaped waist hole provided therein 106, the fastening hole 105 is fastened to the common hole 107 by a second bolt 110, the arc-shaped waist hole 106 is fastened to the single hole 108 by a third bolt 111, the external mounting plate 104 can adjust its own mounting angle according to the arc-shaped waist hole 106, and the external mounting plate 104 is provided with an external mounting hole 109 for fixedly connecting the gear box 2; the bottom L plate 101, the top L plate 102, and the first bolt 103 form the position adjustment structure, and the external mounting plate 104, the arc-shaped waist hole 106, and the single hole 108 form the angle adjustment structure.

[0024] The bottom L plate 101 and the top L plate 102 of the present invention clamp the flat fork structure and can be fastened to the flat fork structure by using a first bolt. The installation position can be adjusted at will to match vehicles of different models, and the adaptability is good.

[0025] The arc-shaped waist hole 106 in the present invention can adjust the installation angle, thereby adjusting the installation angle of the gear box, and is suitable for vehicles with different flat fork angles, and has wide applicability.

[0026] In the present invention, the external mounting holes 109 are multiple groups, such as Figure 3 As shown, the gearbox 2 can select one of the groups to adjust the installation height of the gearbox to adapt to vehicles of different models and has wide applicability.

[0027] Figure 3: is a schematic diagram of the installation of a stepper motor, a gear box, and a leg. The stepper motor 3 is installed in the gear box 2, and the leg 4 is installed in the gear box 2. The stepper motor 3 is provided with a planetary gear set for driving the leg 4 to rotate; the stepper motor 3 is provided with a Hall sensor 307 for recording the number of rotation steps; Specifically, Figure 4 2 is a schematic diagram of a gearbox decomposition, wherein the gearbox 2 comprises an outer shell 201 and an inner shell 202, wherein the outer shell 201 and the inner shell 202 are connected to each other to form a cavity, wherein a tooth plate 204 is arranged in the cavity; the outer shell 201 is provided with an external connecting column 203, and the inner shell 202 is provided with an internal connecting column 207, wherein the external connecting column 203 corresponds to the internal connecting column 207 and is connected to the tooth plate 204 by bolts; the inner shell 202 is provided with a stepper motor shaft hole 205 and a leg shaft hole 206, the stepper motor shaft hole 205 is used to install the stepper motor shaft, the driving gear 209 is installed on the stepper motor shaft, the leg shaft is installed in the leg shaft hole 206, the tooth plate 204 is a fan ring structure, the outer periphery of the tooth plate 204 is provided with teeth and is meshed with the driving gear 209, the center of the tooth plate 204 is connected to the leg shaft, and when the driving gear 209 rotates, the tooth plate 204 is driven to rotate with the leg shaft hole 206 as the axis through meshing, thereby driving the leg shaft to rotate.

[0028] In the present invention, the external connection column 203 and the internal connection column 207 are connected to the external mounting plate 104 correspondingly, and are easy to install with the help of bolts.

[0029] The tooth plate 204 is provided with a stop structure on two radial edges, and the inner shell 202 is provided with a limiting structure, and the limiting structure cooperates with the stop structure for limiting; the stop structure includes a stop arc groove 210 and a stop straight edge 211, the stop arc groove 210 is concave inward, the stop arc groove 210 is close to the support leg shaft hole 206, and the stop straight edge 211 is close to the teeth of the tooth plate 204; the limiting structure includes an internal connecting column 207 and a limiting block 208, the internal connecting column 207 is cylindrical to match the stop arc groove 210, and the surface of the limiting block 208 is a plane to match the stop straight edge 211.

[0030] The present invention provides four stop limits to prevent the tooth plate 204 from being damaged due to excessive rotation.

[0031] The gear box 2 is made of flame-retardant plastic material, and oil seals are provided at the stepper motor shaft hole 205 and the leg shaft hole 206. The gear box adopts a waterproof and dustproof design, and the output shaft is equipped with an oil seal, which is used for waterproofing. The gear box is made of plastic, which has high strength, high toughness, good high and low temperature resistance, low cost, and can be recycled.

[0032] The bearing of gear box 2 adopts the injection molding process with higher precision and smaller error.

[0033] Figure 5 yes Figure 3 Schematic diagram behind, Figure 6 It is a schematic diagram of a stepper motor decomposition, wherein the stepper motor 3 includes a housing 301 and a worm and a worm wheel 302 arranged in the housing 301, the central axis 306 of the worm wheel 302 is connected to a sun gear 303, and the sun gear 303 is meshingly connected to three planetary gears 304, and the housing 301 is also provided with an internal gear 305, and the inner wall of the internal gear 305 is meshingly connected to the three planetary gears 304; the central axis 306 is used as a stepper motor shaft for installing a driving gear 209.

[0034] The stepper motor of the present invention adopts a worm gear and a planetary gear set. The worm gear has a self-locking function and good stability. The planetary gear set can increase torque and improve reliability and stability. The stepper motor is provided with a Hall sensor to record the number of steps. It can accurately know the force and the state of the auxiliary wheel touching the ground, and accurately decelerate when it is about to touch the ground to achieve comfort when touching the ground. When the vehicle body tilts, the control unit can accurately control the number of steps and force of returning to the center through the step recording motor. The stepper motor adopts a waterproof and sealed design.

[0035] Figure 7 It is a schematic diagram of the installation of the supporting leg and the gear box, and the auxiliary wheel 5 is installed at the end of the supporting leg 4.

[0036] The leg shaft of the leg 4 is connected to the leg shaft hole 206, the auxiliary wheel 5 is installed at the free end of the leg 4, and a splash-proof mud guard 401 is also provided, and a horseshoe 402 is provided at the edge of the splash-proof mud guard 401 that contacts the ground. The horseshoe 402 is made of metal material, and is horizontally stressed together with the auxiliary wheel 5 when in the propped-up state. The splash-proof mud guard 401 half surrounds the auxiliary wheel, plays a good mud-blocking role, and prevents mud and water from splashing pedestrians behind. The leg 4 is made of flame-retardant plastic material, which has high strength, high toughness, good high and low temperature resistance, low cost, and can be recycled.

[0037] The ground contact state of the present invention is wheel assisted sliding support ( Figure 8 As shown), the supported state is that the horseshoe is supported by force ( Fig.10As shown), the horseshoe is supported by force instead of the wheel to prevent the legs from deforming. In the propped-up state, the auxiliary wheel and the horseshoe are in horizontal contact with the ground at the same time. Since the horseshoe is made of metal and the auxiliary wheel is made of plastic, the plastic material will rebound slightly in the propped-up state. At this time, the auxiliary wheel is subjected to very little force, and the force is mainly exerted on the horseshoe. The horseshoe has better support force and will not fall crooked. Moreover, the metal material of the horseshoe has greater friction in contact with the ground, and the car cannot be pushed in the propped-up state. Compared with the technology in which only the auxiliary wheel contacts the ground, the present invention is more stable. Compared with the prior art in which only one point of the 7-shaped frame is subjected to force, the legs of the present invention are vertical, which reduces the rotational force borne by the stepper motor when it is blocked, and the force is better. The wheel frame and the horseshoe are subjected to force at the same time, and the upward force is more balanced, rather than being subjected to force at a certain point, and the stability is better. Even if the ground is uneven or there are stones when propped up, it will be very stable. In addition, when the present invention is sliding, the horseshoe will not be affected by ground obstacles.

[0038] The gear box 2 is also equipped with an upper cover 8 .

[0039] The gear box and the legs of the present invention are made of flame-retardant plastic material, which has better shock-absorbing effect and low noise. The tooth plate and the four limit points need to collide, and the collision noise is small due to the characteristics of plastic, so that the noise of the present invention is small. And when the limit is hit, the stepper motor slows down and hits gently, making the noise smaller and more durable.

[0040] The modules of the output gear and the toothed plate of the stepping motor of the present invention are both between 2 and 3.

[0041] Figure 8 It is a schematic diagram of the plane touching the ground. Fig. 9 This is a diagram of the ground contact state on uneven ground. Fig.10 It is a schematic diagram of the plane propping up state. Fig.11 This is a diagram of parking on an uneven or inclined road. Fig.11 Part of the structure is hidden, and it can be seen that when the vehicle is parked, the double supports lift the wheels off the ground, and according to the height of the ground, the double supports can automatically adjust their positions to keep the vehicle level.

[0042] Since the two legs and two stepper motors of the present invention are independently installed and independently controlled, and one stepper motor controls one leg, the two legs can touch the ground and park on uneven ground. The gyroscope installed on the vehicle can quickly and stably touch the ground and automatically correct the vehicle to ensure that the vehicle is stable.

[0043] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An intelligent self-balancing electric double support, characterized by: It comprises two sets of auxiliary support groups, each set of the auxiliary support group comprises a mounting frame (1), a gear box (2), a stepping motor (3), a support leg (4), and an auxiliary wheel (5); The mounting frame (1) is provided with a position adjustment structure capable of adjusting the mounting position, and the mounting frame (1) is connected to the flat fork structure of the vehicle via the position adjustment structure; The mounting frame (1) is further provided with an angle adjustment structure for adjusting the mounting angle, and the gear box (2) is connected to the mounting frame (1) via the angle adjustment structure to adjust the angle of the gear box (2); The stepper motor (3) is mounted on the gear box (2), the support leg (4) is mounted on the gear box (2), the stepper motor (3) is provided with a planetary gear set for driving the support leg (4) to rotate; the stepper motor (3) is provided with a Hall sensor (307) for recording the number of rotation steps; The auxiliary wheel (5) is mounted on the end of the supporting leg (4); The two sets of auxiliary support groups are installed and work independently, so that the legs on both sides can touch the ground or be propped up at the same height or different heights to adapt to uneven ground.

2. The intelligent self-balancing electric double support according to claim 1, characterized in that: The mounting frame (1) comprises a bottom L-plate (101), a top L-plate (102), and an external mounting plate (104); the bottom L-plate (101) is arranged on the lower side of the flat fork structure, and the top L-plate (102) is arranged on the upper side of the flat fork structure; the bottom L-plate (101) and the top L-plate (102) are fastened to the flat fork structure by means of a first bolt (103); the bottom L-plate (101) and the top L-plate (102) have an overlapping portion, and a common hole (107) is formed in the overlapping portion; the top L-plate (102) also has a single hole (108) formed therein; and the external mounting plate (104) has a fastening hole (105) and an arc-shaped waist hole (106). The fastening hole (105) is fastened to the common hole (107) by a second bolt (110); the arc-shaped waist hole (106) is fastened to the single hole (108) by a third bolt (111); the external mounting plate (104) can adjust its own mounting angle according to the arc-shaped waist hole (106); the external mounting plate (104) is provided with an external mounting hole (109) for fixedly connecting the gear box (2); the bottom L plate (101), the top L plate (102), and the first bolt (103) form the position adjustment structure; the external mounting plate (104), the arc-shaped waist hole (106), and the single hole (108) form the angle adjustment structure.

3. The intelligent self-balancing electric double support according to claim 1, characterized in that: The gear box (2) comprises an outer shell (201) and an inner shell (202); the outer shell (201) and the inner shell (202) are connected to each other to form a cavity, and a tooth plate (204) is arranged in the cavity; the outer shell (201) is provided with an external connection column (203), and the inner shell (202) is provided with an internal connection column (207); the external connection column (203) corresponds to the internal connection column (207) and is connected to the tooth plate (204) by bolts; the inner shell (202) is provided with a stepper motor shaft hole (205) and a leg shaft hole ( 206), the stepper motor shaft hole (205) is used to install the stepper motor shaft, the driving gear (209) is installed on the stepper motor shaft, the leg shaft is installed in the leg shaft hole (206), the tooth plate (204) is in a fan ring structure, the outer periphery of the tooth plate (204) is provided with teeth and is meshed with the driving gear (209), the center of the tooth plate (204) is connected to the leg shaft, and when the driving gear (209) rotates, the tooth plate (204) is driven to rotate with the leg shaft hole (206) as the axis through meshing, thereby driving the leg shaft to rotate.

4. The intelligent self-balancing electric double support according to claim 3, characterized in that: The tooth plate (204) is provided with a stop structure on two radial edges, and the inner shell (202) is provided with a limiting structure, and the limiting structure cooperates with the stop structure to perform limiting. The stop structure comprises a stop arc groove (210) and a stop straight edge (211), the stop arc groove (210) is concave inward, the stop arc groove (210) is close to the support leg shaft hole (206), and the stop straight edge (211) is close to the teeth of the tooth plate (204); the limiting structure comprises an internal connecting column (207) and a limiting block (208), the internal connecting column (207) is cylindrical and matches the stop arc groove (210), and the surface of the limiting block (208) is a plane and matches the stop straight edge (211).

5. The intelligent self-balancing electric double support according to claim 3, characterized in that: The gear box (2) is made of flame-retardant plastic material, and oil seals are provided at the stepper motor shaft hole (205) and the support leg shaft hole (206).

6. The intelligent self-balancing electric double support according to claim 1, characterized in that: The stepper motor (3) comprises a housing (301) and a worm and a worm wheel (302) arranged in the housing (301); the central shaft (306) of the worm wheel (302) is connected to a sun gear (303); the sun gear (303) is meshingly connected to three planetary gears (304); the housing (301) is also provided with an internal gear (305); the inner wall of the internal gear (305) is meshingly connected to the three planetary gears (304); the central shaft (306) is used as a stepper motor shaft for mounting a drive gear (209).

7. The intelligent self-balancing electric double support according to claim 1, characterized in that: The supporting leg (4) is made of flame-retardant plastic material; the supporting leg shaft of the supporting leg (4) is connected to the supporting leg shaft hole (206); the auxiliary wheel (5) is mounted on the free end of the supporting leg (4); a splash-proof mud guard (401) is also provided; a horseshoe (402) is provided at the edge of the splash-proof mud guard (401) that contacts the ground; the horseshoe (402) is made of metal material and is in a horizontal position with the auxiliary wheel (5) to bear force together when in a propped-up state.

8. The intelligent self-balancing electric double support according to claim 1, characterized in that: The gear box (2) is also equipped with an upper cover (8).

9. A vehicle, characterized in that: It comprises an intelligent self-balancing electric double support as described in any one of claims 1-8.

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