CN1857959A - Coaxial two-wheel vehicle - Google Patents
Coaxial two-wheel vehicle Download PDFInfo
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- CN1857959A CN1857959A CN 200610089876 CN200610089876A CN1857959A CN 1857959 A CN1857959 A CN 1857959A CN 200610089876 CN200610089876 CN 200610089876 CN 200610089876 A CN200610089876 A CN 200610089876A CN 1857959 A CN1857959 A CN 1857959A
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Abstract
A coaxial two-wheel vehicle with which a rider stably travels without the upper body being swayed left and right in a riding state of the center of gravity being positioned high is provided. The coaxial two-wheel vehicle includes: a step plate for a driver to ride; a vehicle body that supports the step plate to be capable of changing a posture in a roll direction of rotating around a roll axis as the center, when a traveling direction is made the roll axis; a pair of wheels disposed on both sides on the same axis in the direction orthogonal to the traveling direction of the vehicle body and rotatably supported by the vehicle body; a pair of wheel drive means to drive and rotate the pair of wheels independently; and a handle for directly changing a posture of the step plate or indirectly changing the posture through the vehicle body.
Description
Technical field
The present invention relates to a kind of coaxial two-wheel vehicle, it comprises two wheels that are positioned on the same shaft centre line, the invention particularly relates to a kind of coaxial two-wheel vehicle, and it can be with and drive superincumbent personnel and freely travel.
Background technology
A kind of such coaxial two-wheel vehicle of the prior art is for example disclosing in the patent documentation 1.In patent documentation 1, introduced a kind of coaxial two-wheel vehicle, comprise the wheel that is positioned at the same axis two ends.In patent documentation 1 disclosed coaxial two-wheel vehicle be " a kind of coaxial two-wheel vehicle, it is configured to have one wheel pairs; Between this is to wheel, be provided with a wheel shaft; The base that can tilt to be supported on above-mentioned wheel shaft top; The a pair of CD-ROM drive motor that is installed on the base is so that drive each wheel; With a controller, can send operating order to CD-ROM drive motor to this, wherein, base is provided with an acceleration detector and is used for detecting in vertical direction acceleration/accel, and when the absolute value of the detected acceleration/accel of acceleration detector met or exceeded a threshold value in the process of moving, controller sent operating order so that this all slows down in the CD-ROM drive motor each.”
According to the coaxial two-wheel vehicle in the patent documentation 1 with said structure, wish that the effect reach is " when for example driving on the step; can detect at the acceleration detector of vertical direction acceleration/accel and when the detected acceleration/accel absolute value of acceleration detector meets or exceeds a predetermined threshold in the process of moving because have; the operating order that slow down has sent to this in the CD-ROM drive motor each, so can safety traffic when running into situation such as step.”
In addition, open in patent documentation 2 for example as in the prior art another kind of coaxial two-wheel vehicle.In patent documentation 2, introduced a kind of method that can control the coaxial two-wheel vehicle attitude.This attitude control method is " in a kind of coaxial two-wheel vehicle that has an one wheel pairs in the coaxial two-wheel vehicle in patent documentation 2; Between this is to wheel, be provided with a wheel shaft; A car body is supported on above-mentioned wheel shaft top in rotating mode; A wheel drive motor is installed on the car body; A control computer can be sent operating order to this CD-ROM drive motor; Also have an angle detector to detect the angle of inclination of car body, the tilting of car body angle that angle detector detected is sampled at interval with very short time, calculate by the sampling value substitution being imported in advance and is set in the control input accounting equation in the control computer, wherein the sampling angle of inclination of car body is as state variable, and with feedback gain as a coefficient, calculate the control torque that is used for the wheel drive motor according to accounting equation; Control computer sends an instruction to the wheel drive motor and carries out and calculation control moment of torsion identical operations.”
According to the attitude control method in the coaxial two-wheel vehicle with said structure of patent documentation 2, the effect that reaches of expectation be " under the situation of inclination of vehicle; wheel moves on the tilting of car body direction immediately; and the attitude of the car body that successfully resets; because calculate by the sampling value substitution being imported in advance and is set in the control input accounting equation in the control computer, wherein the sampling leaning angle and the feedback gain of car body are used as coefficient; Calculate the control torque that is used for the wheel drive motor according to accounting equation; And according to the controlled reset of this result of calculation execution to the wheel drive motor.”
[patent documentation 1] Japanese Laid-Open Patent Application No.2005-6436
[patent documentation 2] Japanese Laid-Open Patent Application No.S63-305082
But, in above-mentioned patent documentation 1 and 2 described coaxial two-wheel vehicles, a handle is fixed on the pedal (driving parts) that is used for the people and drives, the support component of a support wheel is fixed on the pedal can rotate freely the ground mode, and the upper surface of pedal (driving the surface) is parallel with running surface (road surface).Therefore, when center of gravity is in than higher position, for example the rider is in standing attitude time of standing state, it is unstable that rider's upper body just becomes, when travelling on the tilted road surface of road surface and travel direction vertical bank because action of gravity, maybe when turning to because action of centrifugal force, the rider can rock from side to side and become unstable, and car body just overturns on side direction probably when centnifugal force is excessive.
Introduce the detailed content of this respect in detail below by accompanying drawing 1 to 3.Figure 1A is an explanatory view to 1C, represents respectively to observe coaxial two-wheel vehicle of the prior art from the front side of vehicle.In 1C, the integral body of Reference numeral 1 expression coaxial two-wheel vehicle wherein is provided with a car body 2 as pedal at Figure 1A.Be provided with rotatable left and right wheels 3L and 3R in the direction both sides vertical with car body 2 travel direction.In addition, rider's (for example being a man) who drives on car body 2 of Reference numeral 4 expressions, Reference numeral G represents rider 4 center of gravity, Reference numeral W represents rider 4 weight (load).
Figure 1A is illustrated under the situation that does not have side force and centrifugal forces affect, the state of coaxial two-wheel vehicle 1 straight-line travelling on flat road surface.In this case, rider 4 center of gravity G is located substantially on the top at coaxial two-wheel vehicle 1 center, and load W vertically acts on the approximate centre of car body 2.Therefore, roughly the same loading is at left and right wheels 3L and 3R, and is roughly the same at the antagonistic force at wheel 3L and 3R and the contacted ground of road surface E contact point TL and TR place.
Figure 1B represents the state that coaxial two-wheel vehicle 1 turns on flat road surface E.In this case, centnifugal force (side force) F acts on the rider 4 from right side wheels 3R side, because the effect of centnifugal force F, the gravitational vector W of load W departs from an angle θ.When the extended line of gravitational vector W and road surface E intersect formed ground contact point R when being positioned at ground contact point TL inboard of left side wheel 3L, coaxial two-wheel vehicle 1 can stably turn to.But, when ground contact point R is in the ground contact point TL outside shown in Figure 1B, will damage riding stability, because left and right wheels 3L and 3R can not bear centnifugal force F, when centnifugal force F becomes excessive, vehicle will shown in Fig. 1 C, overturn like that (falling down) in side direction.
The degree of difficulty major part that causes coaxial two-wheel vehicle 1 to overturn depends on the height of rider 4 center of gravity G.Fig. 2 is a scheme drawing of explaining this phenomenon.When rider 4 center of gravity G was lower, the permission angle of inclination of the gravitational vector W of center of gravity G was angle θ as shown in Figure 2.But, very high and when transforming to center of gravity G1 as rider 4 center of gravity G, the angle of inclination of center of gravity G1 becomes angle θ 1 less than angle θ, and (θ 1＜θ), because remain unchanged to the ground contact point TL of left and right wheels 3L and 3R and the distance of TR from the center of car body 2.
From the above, be understandable that causing the degree of difficulty of coaxial two-wheel vehicle 1 upset is to represent by the height of center of gravity G and the product of centnifugal force F.Specifically, suppose that the ground contact point R of gravitational vector W is corresponding with the ground contact point TL of left side wheel 3L, just obtains F * H=S (formula 1) when centnifugal force F acts on the center of gravity G.Similarly, suppose that the ground contact point R of gravitational vector W1 is corresponding with the ground contact point TL of left side wheel 3L, just obtains F1 * H1=S (formula 2) when centnifugal force F acts on the center of gravity G1.Therefore, F * H=F1 * H1.Here, because H＜H1, so F＞F1.Therefore, when center-of-gravity position was higher, even centnifugal force is little so much, coaxial two-wheel vehicle 1 also may overturn.
This upset of coaxial two-wheel vehicle 1 can be avoided by structure shown in Figure 3.What Fig. 3 represented is to do the time spent, the road surface E bevelled scheme drawing of car body 2 on right side wheels 3R as centnifugal force F.When therefore car body 2 tilts to a side of centnifugal force F effect, just can prevent the upset of coaxial two-wheel vehicle 1 and may carry out stable turning, because the ground contact point R of gravitational vector W1 changes to the inboard of the ground contact point TL of left side wheel 3L.
Summary of the invention
In the coaxial two-wheel vehicle of prior art, the upper surface of pedal (driving the surface) is continuous, parallel with running surface (road surface), when travelling at tilted road surface because action of gravity, and when turning to and the rider is in the standing state center-of-gravity position when very high, because action of centrifugal force, rider's upper body part also can wigwag motion and instability, and vehicle also can overturn when such power becomes excessive.
Coaxial two-wheel vehicle according to the embodiment of the invention has and is used for the pedal that the driver drives; Car body when travel direction is set to rolling axis, can change attitude thereby this car body supports described pedal on the rotating direction that rotates around the rolling axis as the center; A pair of wheel, this is positioned at the same axis of both sides on the direction vertical with described car body travel direction to wheel and is supported rotationally by described car body; A pair of independent drive and the described wheel driver of rotation to wheel; With the handle that is used for directly changing the attitude of described pedal or changes described attitude by described car body indirectly.
Embodiment according to coaxial two-wheel vehicle of the present invention, when turning to or the contact point inboard, ground of the gravitational vector of conversion rider's center of gravity and ground contact point or wheel the time, just can change the attitude of pedal, preventing the upset of coaxial two-wheel vehicle, thereby can form stable turning to.
Description of drawings
Figure 1A is the scheme drawing that concerns between expression coaxial two-wheel vehicle and the centnifugal force to 1C, what wherein Figure 1A represented is the state that centnifugal force is not had an effect, what Figure 1B represented is the state that centnifugal force is had an effect, and what Fig. 1 C represented is the state that vehicle overturns owing to centnifugal force;
Fig. 2 is used for explaining the scheme drawing that concerns between coaxial two-wheel vehicle, centnifugal force and the rider's height of gravitational center;
Fig. 3 is used for the scheme drawing of measure of the centnifugal force of inhibit function on coaxial two-wheel vehicle;
Fig. 4 A and 4B are the scheme drawing of expression according to first embodiment of coaxial two-wheel vehicle of the present invention, and wherein Fig. 4 A is a front elevation, and Fig. 4 B is a lateral plan;
Fig. 5 is explanatory scheme drawing, amplifies a relevant portion having represented the coaxial two-wheel vehicle shown in Fig. 4 A;
Fig. 6 is explanatory scheme drawing, amplifies a relevant portion having represented the coaxial two-wheel vehicle shown in Fig. 4 B;
Fig. 7 is the amplification sectional view of the D-D line part in the coaxial two-wheel vehicle shown in Figure 5;
Fig. 8 is the explanatory scheme drawing of the operation of coaxial two-wheel vehicle among the instruction diagram 4A, expression be a state that wheel travels on step;
Fig. 9 is the explanatory scheme drawing of the operation of coaxial two-wheel vehicle among the instruction diagram 4A, expression be the state that on flat road surface, turns to;
Figure 10 is the explanatory scheme drawing of the operation of coaxial two-wheel vehicle among the instruction diagram 4A, expression be state at the tilted road surface straight-line travelling;
Figure 11 is the schematic block diagram according to the controller architecture of coaxial two-wheel vehicle first embodiment of the present invention;
Figure 12 A is the explanatory scheme drawing of explanation according to the coaxial two-wheel vehicle first embodiment motoring condition of the present invention to 12C, and what wherein Figure 12 A represented is straight-line travelling on flat road surface; Figure 12 B turns on flat road surface; Figure 12 C is a straight-line travelling on tilted road surface;
Figure 13 A and 13B are that wherein Figure 13 A is a front elevation according to the scheme drawing of second embodiment of coaxial two-wheel vehicle of the present invention, and Figure 13 B is a lateral plan;
Figure 14 A and 14B are explanatory scheme drawings, amplify a relevant portion having represented the coaxial two-wheel vehicle shown in Figure 13 A, and wherein Figure 14 A is the straight-line travelling state, and Figure 14 B is a steering state;
Figure 15 A and 15B are that wherein Figure 15 A is a front elevation according to the scheme drawing of the 3rd embodiment of coaxial two-wheel vehicle of the present invention, and Figure 15 B is a lateral plan;
Figure 16 A and 16B are explanatory scheme drawings, amplify a relevant portion having represented the coaxial two-wheel vehicle shown in Figure 15 A, and wherein Figure 16 A is the straight-line travelling state, and Figure 16 B is a steering state.
The specific embodiment
A kind of coaxial two-wheel vehicle of can stable turning and can not cause overturning can adopt a kind of simplified structure, and wherein, pedal tilts towards the inboard of steering direction.
Below, introduce embodiments of the invention with reference to the accompanying drawings.What Fig. 4 to 16 represented is embodiments of the invention.Specifically, accompanying drawing 4A is front elevation and the lateral plan of expression according to first embodiment of coaxial two-wheel vehicle of the present invention to 4B; Fig. 5 is the explanatory scheme drawing of the amplification of a relevant portion among Fig. 4 A; Fig. 6 is the explanatory scheme drawing of the amplification of a relevant portion among Fig. 4 B; Fig. 7 is a D-D line section drawing among Fig. 5; Fig. 8 is the scheme drawing according to the operation of the coaxial two-wheel vehicle of first embodiment; Similarly, Fig. 9 and 10 is explanatory scheme drawings of a relevant portion, and a kind of operation is described; Figure 11 is the block scheme that is used to illustrate according to the circuit of the controller of the coaxial two-wheel vehicle of first embodiment of the invention; Figure 12 A is the explanatory scheme drawing of expression rider action to 12C; Figure 13 A and 13B are front elevation and the lateral plans according to second embodiment of coaxial two-wheel vehicle of the present invention; Figure 14 A is the explanatory scheme drawing of a relevant portion to 14B, and a kind of operation according to the coaxial two-wheel vehicle of second embodiment of the invention is described; Figure 15 A and 15B are front elevation and the lateral plans according to the 3rd embodiment of coaxial two-wheel vehicle of the present invention; Figure 16 A and 16B are the explanatory scheme drawings of a relevant portion, and a kind of operation according to the coaxial two-wheel vehicle of third embodiment of the invention is described.
As Fig. 4 A and 4B, Fig. 5 and shown in Figure 6, the coaxial two-wheel vehicle 10 of first embodiment of the invention comprises: two are separated pedal 11L and 11R, a kind of specific embodiment of the pedal that the driver drives is shown, one is supported these car bodies that separates pedal 11L and 11R 12 respectively, it can change attitude at rotating direction X, a pair of by car body 12 rotatably supported wheel 13L and 13R, a pair of wheel drive parts 14L and 14R, illustrate and to drive and to rotate this specific embodiment the wheel driver of wheel 13L and 13R, a handle 15 can wait by car body 12 to change two attitudes of separating pedal 11L and 11R indirectly.
Two separately pedal 11L and 11R be the driver by a pin being placed on each pedal so that the pedal that drives, they are made by pair of plates, dull and stereotyped size is equal to or slightly greater than people's pin.Car body 12 has a parallel bindiny mechanism, wherein, vehicle body upper portion parts 16 and a car body lower member 17 self be arranged in parallel, are set parallel to each other about a pair of side members 18L and 18R and to be rotatably coupled on vehicle body upper portion parts 16 and the car body lower member 17.A pair of coil spring 19L and 19R are between the vehicle body upper portion parts 16 and car body lower member 17 of this parallel bindiny mechanism, this coil spring is as the specific embodiment of elastomeric element, be used for producing elastic force, so that vehicle body upper portion parts 16 and car body lower member 17 keep vertical angle with this to side members 18L and 18R.
Shown in the part of Fig. 7, vehicle body upper portion parts 16 and car body lower member 17 have roughly tetragonal chassis component 16a and 17a, bearing sub-assembly 16b and 17b and a pair of spring support member 16c, 16c and 17c, 17c, the bottom of chassis component is all opened wide, bearing sub-assembly is each chassis component 16a and 17a four jiaos projections along the longitudinal, and each spring support member is respectively towards the side extending projection of another parts.Vehicle body upper portion parts 16 are identical with the length of car body lower member 17 on the Width that is vehicle on the left and right directions, and when two parts 16,17 were overlapping, the bearing sub-assembly 16b and the 17b that are positioned at four positions, corresponding bight also overlapped each other.
In vehicle body upper portion parts 16, vertically be that centre on the left and right directions and three positions at two ends have bearing hole (having six positions in the front and back side) respectively.Equally, in car body lower member 17, vertically be that centre on the left and right directions and three positions at two ends have bearing hole (two positions being arranged, so have five positions at the two ends of rear side) respectively.End bearing hole each interval distance at vehicle body upper portion parts 16 two ends and car body lower member 17 two ends place has between left and right sides bearing portions 16b, the 16b of these bearing holes and 17b, the 17b in the end and to be provided with a pair of side members 18L and 18R.
This is made with flat-shaped part side members 18L and 18R, its width is slidably mounted between the bearing sub-assembly on vehicle body upper portion parts 16 fore-and-aft directions is to 16b, 16b, and between the bearing sub-assembly on vehicle body upper portion parts 17 fore-and-aft directions is to 17b, 17b, and this is positioned at the left and right sides of vehicle body upper portion parts 16 and car body lower member 17 to side members, and it has the planar section that stretches out up and down.And, be provided with in four positions, both sides of each side members 18L and 18R with the bearing hole of vehicle body upper portion parts 16 to the bearing hole of car body lower member 17 to cooresponding bearing hole.
In four bearing holes of side members to the top in eight bearing holes of 18L and 18R, insert top rotation supporting pin 21L and 21R in rotating mode respectively, described pin passes the bearing hole that is positioned at 16 4 locational bearing portions 16b of vehicle body upper portion parts.Similarly, in four bearing holes of side members to the bottom in eight bearing holes of 18L and 18R, insert bottom rotation supporting pin 22L and 22R in rotating mode respectively, described pin passes the bearing hole that is positioned at 17 4 locational bearing portions 17b of car body lower member.Therefore, vehicle body upper portion parts 16, car body lower member 17 and left and right side parts 18L have constituted parallel bindiny mechanism with 18R.
And, side members to the upper part of 18L and 18R from the upper surface of vehicle body upper portion parts 16 roughly to upper process, and above-mentioned separately pedal 11L and 11R are connected respectively on its upper surface.Should extend identical height level with 11R pedal 11L separately, and promptly take turns at left and right directions between the two and have a predetermined gap on the direction of principal axis.Should be when a man stands naturally to the distance of separating between pedal 11L and the 11R, the distance between the bipod.
The spring support member of car body lower member 17 is to having a predetermined gap on the left and right directions of core between 17c, the 17c.The spring support member of vehicle body upper portion parts 16 is to be positioned at spring support member on the cooresponding position of 17c, 17c to 16c, 16c.And coil spring 19L and 19R with suitable elastic force are being in abundant compressive state between corresponding spring support component 16c and the 17c mutually.Here, though not expression in the accompanying drawings, preferably each spring support member 16c and 17c have a spring supporting projections, come every end of support helix spring 19L and 19R, like this, just can prevent that coil spring 19L and 19R from coming off.
And as shown in Figure 7, a handle supporting 24 is connected the core of vehicle body upper portion parts 16 and car body lower member 17 left and right directions.Handle supporting 24 usefulness saddle type parts are made, these saddle type parts are straddling on the fore-and-aft direction on vehicle body upper portion parts 16, an extension is forwardly arranged to the bottom of car body lower member 17 front surface portion 24a, an extension is arranged at the rear portion to the rear surface, bottom of vehicle body upper portion parts 16 part 24b.And, have a mounting portion 24c at the upper surface of handle supporting 24 and fix and support a handle 15.In the front surface portion 24a of handle supporting 24, and on the cooresponding position, center bearing pilot bearing hole of the center bearing pilot bearing hole of vehicle body upper portion parts 16 and car body lower member 17 bearing hole is arranged.And, in the part 24b of rear surface, with the cooresponding position, center bearing pilot bearing hole, rear portion of vehicle body upper portion parts 16 on a bearing hole is arranged.
Turn to pivot shaft 29 to be inserted in the lower central bearing hole of front surface portion 24a of handle supporting 24 before bottom.Handle supporting 24 and then turns to pivot shaft 29 to rotate along rotating direction X together before the bottom as center of turn.In order to allow this handle supporting 24 in preset range, to rotate, on the front surface of vehicle body upper portion parts 16 and car body lower member 17, cavity 16d and 17d are arranged, avoid contacting with handle supporting 24.And an angle detecting sensor 31 turns on the pivot shaft 25 so that detect the operational ton (amount of spin) of handle 15 by the amount of spin (deflection angle) of handle supporting 24 on rotating direction X before being connected to top.
The bottom of handle 15 is fixed on the mounting portion 24c of handle supporting 24.The structure of handle 15 is to have one to be mounted and fixed on the handlebar posts 35 on the 24c of mounting portion and the handlebar stem 36 of a upper end that is positioned at handlebar posts 35.Handlebar posts 35 turns forward a little and tiltedly is connected on the car body 12, and its upper end extends upward.Handlebar stem 36 is U-shapeds, and the lug boss at its two ends makes progress towards the upper end of handlebar stem 36, and is connected to integrally formed centre portion.
And, can control the wheel drive parts are connected to a lug boss of handlebar stem 36 to the steering operation ring 37 of 14L and 14R driving upper end for one.Steering operation ring 37 is to be used for coming by M/C the handling maneuver of control vehicle, and forms an accelerator ring that is used for handling maneuver.When steering operation ring 37 wants the direction that turns to rotate along the driver, the signal of a respective operations amount just is output to controller described below, therefore this controller controls the propulsive effort of a pair of wheel drive parts 14L and 14R, between left and right wheels 13L and 13R, just produce speed discrepancy, therefore just can turn to required speed.
As shown in Figure 7, on upper surface, power storage parts 39 are arranged as the handle supporting 24 of the base portion of handle 15, these power storage parts can hold battery 38, controller, other electronic machine and the electronics package etc. as the power supply specific embodiment, and battery is used for providing electric energy to the wheel drive parts to 14L and 14R.Power supply reservoir part 39 in the present embodiment has box-shaped structure, can hold a lot of batteries 38.But power supply is not limited to battery 38 in the present embodiment, also comprises the power supply of portable storage battery, fuel cell and other type.Power storage parts 39 are covered by a power supply lid 41, and rainwater, dust etc. just can not enter like this.
Be provided with driving circuit 44L and 44R in the chassis portion 16a of vehicle body upper portion parts 16, it is used for parts such as drive wheels drive element 14L and 14R.And, in car body lower member 17, have attitude sensor parts 45 and a controller 46, attitude sensor parts 45 are used for attitude that detects car body 12 attitudes, handle 15 etc., and output detection signal, controller 46 output control signals drive and control the wheel drive parts to parts such as 14L and 14R.Controller 46 is carried out the predetermined algorithm program according to the detection signal of the detection signal of attitude sensor parts 45, angular transducer 31 etc., and the necessary control signal is exported to the wheel drive parts to parts such as 14L and 14R.
As shown in figure 11, controller 46 has an arithmetical circuit that comprises a micro computer (CPU) 47, a storage equipment 48, and storage equipment comprises a program store, data memory device, other for example RAM or ROM memory device etc.Battery 38 and wheel drive circuit are connected on the controller 46 44L and 44R, also connect by an emergency braking switch 49.A pair of wheel drive circuit 44L and 44R control rotative speed, hand of rotation and wheel separately to 13L and 13R etc., and the wheel drive parts are connected on the circuit separately 14L and 14R.
Gyrosensor detects cireular frequency, and at least one in the clinoid of cireular frequency and pitch axis (with wheel spool corresponding to 13L and 13R) 51, rotation axis (passing the center of car body 12 and parallel with the travel direction of vehicle) 52 and car body 12 (passing the center of car body 12 and vertical with the road surface of vehicle ') is relevant.And when car body 12 was represented by above-mentioned three axis, the acceleration pick-up of attitude sensor parts 45 detects caught up with at least one relevant acceleration/accel of stating in three axis (X-axis, Y-axis and Z axle).
Coaxial two-wheel vehicle 10 with said structure can travel in the mode for example.Fig. 4 A and 4B represent the state of vehicle in the time of straight-line travelling on flat road surface E, in this state, observe from the front, and be just vertical with track E as a shaft centre line CL at handle 15 centers.In addition, divide right and left pedal 11L and 11R just remained on equal height by level.
Fig. 8 represents is that a wheel (being left side wheel 13L in the present embodiment) at the vehicle of straight-line travelling on the flat road surface E drives on the step K.In this case, kept vertically by the rider by handle 15, then vehicle can keep horizontal state to travel with divide right and left pedal 11L and 11R.Therefore, even the rider's who drives with stance center of gravity is very high, the step K of road surface E also can be absorbed by pedal 11L and the 11R variation on short transverse of dividing right and left, so the rider just can not have stable travelling under the situation of wigwag motion at its upper body part.
What Fig. 9 represented is the state that turns on flat road surface E.In this case, rider's handle 15 that tilts, and his/her upper body part tilts towards turning center one side (inboard), pedal 11L and 11R and left and right wheels 13L and 13R and handle 15 parallel oblique so that divide right and left comprise that rider's whole vehicle just is easy to offset centnifugal force.
And Figure 10 represents is motoring condition on tilted road surface (tilted road surface M), and travel direction is vertical with direction of tilt.In this case, the state class that change is gone up in pivot center direction (left and right directions of relative travel direction just) in the road surface when driving to step K and go up seemingly, the rider keeps handle 15 vertical, and can keep horizontal state to travel with divide right and left pedal 11L and 11R.Therefore, even the rider's who drives with stance center of gravity is very high, tilted road surface M also can be absorbed by pedal 11L and the 11R variation on short transverse of dividing right and left, so the rider just can not have under the situation of wigwag motion stabilized driving and travels at its upper body part.
Below, will introduce the method that coaxial two-wheel vehicle 10 turns to.Figure 12 A represents the state of coaxial two-wheel vehicle 10 straight-line travelling on flat road surface E.Figure 12 B be illustrated in flat road surface E go up left-handed turning to state.And Figure 12 C is illustrated in the state that tilted road surface M goes up straight-line travelling (be included on the step K and travel).
When coaxial two-wheel vehicle 10 turns to, basically two kinds of ways below adopting: a kind of is only to determine that by the inclination of handle 15 method of steering volume (turning velocity, Turning radius etc.) and a kind of inclination and rider by handle 15 rotate the method that steering operation ring 37 (quickening turning velocity) is determined steering volume.
At first, only determine the method for steering volume with introducing to turn to by the inclination of handle 15.As shown in Figure 9, in this case, the steering operation amount is to determine according to the handle actual tilt angles θ h between handle 15 and gravity axis V.According to the steering volume and the speed of a motor vehicle, between left and right wheels 13L and 13R, produce speed discrepancy, can produce the Turning radius of predetermined centnifugal force to turn to regard to obtaining like this.In this case, handle actual tilt angles θ h can be as the detection of getting off.
First example is that above-mentioned attitude sensor parts 45 are to be connected on the handle 15 or to be connected among a pair of divide right and left the pedal 11L and the 11R parallel with handle 15 one, like this, just can directly detect the inclination angle of handle 15.
Second example is that attitude sensor parts 45 are connected on as shown in Figure 7 the car body lower member 17.In this case, position transduser is used for detecting the relative angle between the relative angle between handle 15 and the car body lower member 17 or handle 15 and vehicle body upper portion parts 16.In the embodiment shown in fig. 7, the angular transducer 31 in vehicle body upper portion parts 16 is equivalent to position transduser, and a potentiometer etc. can be as for example angle detecting sensor 31.The output of the output of angle detecting sensor 31 and attitude sensor parts 45 can be used for calculating poor between " the inclination of vehicle angle θ g that becomes with the gravity axis V-arrangement " and " handle 15 is with respect to the handle relative tilt angle θ p of car body ", and detect the handle actual tilt angles θ h (θ p-θ g=θ h) of handle 15, " the inclination of vehicle angle θ g that becomes with the gravity axis V-arrangement " is the output of the attitude sensor parts 45 relative gravity axle V in car body 12, and " handle 15 is with respect to the handle relative tilt angle θ p of car body " is the output of angle detecting sensor 31.
For example, when as the handle relative tilt angle θ p of the output of angle detecting sensor 31 when inclination of vehicle angle θ g as the output of attitude sensor parts 45 is consistent, handle 15 is vertical, and no matter vehicle is in the straight-line travelling state and road surface situation (flat road surface, tilted road surface M, step K etc.), shown in Figure 12 A and Figure 10 and Figure 12 C.On the other hand, when coaxial two-wheel vehicle 10 turns to as shown in Figure 9, the inclination of vehicle angle resulting value of θ g that cuts as the output of attitude sensor parts 45 from the handle relative tilt angle θ p as the output of angle detecting sensor 31 is exactly and the formed handle actual tilt angles of gravity axis V θ h to determine the steering operation amount according to this handle actual tilt angles θ h.
Below, determine the method for steering volume with introducing the inclination angle that rotates steering operation ring 37 and handle 15 according to the driver.(for example producing centnifugal force hardly, centnifugal force is 0.1G or littler) situation under, for example low speed turns to, super pivot skid steer (super-pivotal brake turn) etc., thereby the rider can select operation according to moving velocity by the inclination and the steering operation ring that use handle 15, because steering operation ring 37 rather than the inclination handle that is positioned at handlebar stem 36 tops by manual rotation improves operability under these circumstances.In this case, steering operation according to steering operation ring 37, determine steering volume and only the method that turns to of the inclination by handle 15 just be accumulated on the operational ton, like this, the two in conjunction with and state of using under just can control operational ton when turning to.
At first, in the time of the steering operation ring 37 of manual rotating handles bar 36, the operational ton of steering operation ring 37 just detects by the position-detection sensor made from potentiometer etc., and detection signal is sent to controller 46.Then, control signal of controller 46 wheel drive parts 14L and 14R output to the left and right so just can obtain to produce according to the speed of a motor vehicle and be scheduled to centnifugal force (for example, Turning radius 0.2G), and to left and right wheels 13L and predetermined speed discrepancy of 13R.
Here, when also will carry out more sharply turning, the rider is towards turning center inclination handle 15.Then, the tilt quantity of handle 15 is just detected by aforesaid angle detecting sensor 31, and the attitude of vehicle is detected by attitude sensor parts 45, like this, just calculates and the cooresponding wheel control amount of the tilt quantity of handle 15.The wheel control amount that obtains by handle 15 tilt quantity is accumulated on the wheel control amount by the steering operation of steering operation ring 37.As a result, controller 46 is wheel drive parts 14L and control signal of 14R output to the left and right, obtains one with regard to the speed discrepancy that changes left and right wheels 13L and 13R like this and can produce predetermined centnifugal force (for example, Turning radius 0.4G).Therefore,, also can carry out stable turning to even turning velocity is very fast, can wigwag motion and be in the rider's of stance upper body part.
In first embodiment, about pedal is divided into two, because just can obtain following advantage when use separates two pedal 11L and 11R like this, when for example driving on the step, for example wheel at first drives on as shown in Figure 8 the step K, but the wheel of that side just can rely on propulsive effort seldom just to drive on the step K, and at this moment the rider just moves on to down center of gravity face wheel one side (the non-side of travelling).Subsequently, center of gravity moves on to running vehicle wheel one side, descends face wheel (the non-side of travelling) just to drive on the step then, makes the rider feel the same with the pin rank of going up on the stage, and therefore relying on seldom, the propulsive effort vehicle just can drive on the step K.
Figure 13 A and 13B and Figure 14 A and 14B are the scheme drawing of expression according to second embodiment of coaxial two-wheel vehicles of the present invention.Coaxial two-wheel vehicle 60 as second embodiment comprises: a car body 62 that has the chassis, two pedal 61L that separate that supported by car body 62 separately in mode capable of free rotation and 61R and one in rotating mode with two separately pedal 61L, 61R and the attaching partss 68 that handle supporting 64 couples together.In this second embodiment, identical Reference numeral represent with above-mentioned first embodiment in identical part, therefore just omitted the explanation that repeats.
Shown in Figure 13 A and 13B and Figure 14 A and 14B, car body 62 is as a chassis, and left and right wheels drive element 14L and 14R are connected respectively to and are positioned on the mounting portion 62L and 62R that left and right directions is width over sides of car body direction both sides.And, but left and right wheels 13L and 13R are driven parts 14L respectively and 14R supports with free rotation mode.And a handle support component 65 is positioned in the middle of the top of car body 62, the superposed both sides of pedal support component 65L and 65R.On the handle support component 65 in the middle of bearing hole lays respectively at and on the pedal support component 65L and 65R of both sides, pass the fore-and-aft direction of vehicle '.
Be in equal height at the pedal support component 65L of handle support component 65 and car body 62 and three bearing holes on the 65R, handle supporting 64 is supported in rotating mode by leader's support component 65 by a rotation support shaft 66, and divide right and left pedal 61L and 61R are supported by pedal support component 65L and 65R in rotating mode by top rotation supporting pin 67L and 67R.Each pedal 61L and 61R are with an arm 61a, along the direction projection vertical with the pedal surface that is placed with pin.In each arm 61a, be respectively equipped with bearing hole at base and top end part, above-mentioned top rotation supporting pin 67L and 67R insert in the bearing hole of base free to rotately.
In addition, but the two ends of attaching parts 68 that connect the arm 61a of divide right and left pedal 61L and 61R be connected to free rotation mode by bottom rotation supporting pin 69L and 69R and be arranged in the bearing hole of the top end part of arm 61a separately.And, but handle supporting 64 is connected to the axial middle part of attaching parts 68 by a rotary connection pin 71 with free rotation mode.Therefore, two bearing holes are arranged on handle supporting 64, the spacing distance of two bearing holes among the spacing distance between them and each arm 61a is identical.Therefore, handle supporting 64, the pedal 61L that divides right and left have constituted a parallel connection structure with 61R with attaching parts 68.Structure except said structure and above-mentioned first embodiment are similar.
Like this, when tilt handle 15 or separately pedal 61L and 61R the time, divide right and left pedal 61L and 61R or handle 15 are simultaneously in inclined of rider.Figure 14 A is the scheme drawing that expression handle 15 is in the initial condition of vertical position.Figure 14 B represents the scheme drawing of handle 15 and divide right and left pedal 61L and 61R bevelled state.At this moment, the divide right and left upper surface of pedal 61L and 61R just is in state towards the tilt quantity of road surface inclination handle 15.Structure by above-mentioned coaxial two-wheel vehicle 60 also can obtain and the above-mentioned first embodiment similar effects.
Figure 15 A and 15B and Figure 16 A and 16B are the scheme drawing of expression according to the 3rd embodiment of coaxial two-wheel vehicle of the present invention.Coaxial two-wheel vehicle 80 as the 3rd embodiment comprises: 82, one of car bodies that has a chassis are supported, can make pedal 81 that attitude freely changes and the overall fixed handle 15 to the pedal 81 by car body 82.In this 3rd embodiment, identical Reference numeral represent with above-mentioned first embodiment in identical part, therefore just omitted the explanation that repeats.
Shown in Figure 15 A and 15B and Figure 16 A and 16B, car body 82 is as a chassis, left and right wheels drive element 14L and 14R are connected respectively to and are positioned on the mounting portion 82L and 82R that left and right directions is width over sides of car body direction both sides, and left and right wheels 13L and 13R are driven parts 14L respectively and 14R supports with free rotation mode.A pedal support component 85 is positioned in the middle of the top of car body 82.In this pedal support component 85, there is a bearing hole to pass the fore-and-aft direction of vehicle '.
And four coil springs 87 are arranged between pedal 81 and the car body 82, and coil spring is a particular examples of elastomeric element, are used for keeping pedal 81 relative car body 82 levels.Four coil springs 87 are provided at predetermined intervals the symmetric position place on direction all around respectively.In order to reach this purpose, four spring support members 88 that are used for support helix spring 87 upper ends are positioned at four positions of pedal 81 lower surfaces, and four spring support members 89 that are used for support helix spring 87 lower ends are positioned at four positions of car body 82 upper surfaces.
Like this, when the rider tilted one of handle 15 and pedal 81, another integrally formed parts are also integral inclination in the same direction just.Figure 16 A is the scheme drawing that handle 15 is in the initial condition of vertical position.And Figure 16 B is the scheme drawing of handle 15 and pedal 81 heeling conditions.At this moment, the upper surface of pedal 81 is in the state towards road surface E inclination jug 15 tilt quantity.Structure by above-mentioned coaxial two-wheel vehicle 80 also can obtain and the above-mentioned first and second embodiment similar effects.It should be noted that and to illustrate that the coil spring 87 shown in elastomeric element is not limited in the present embodiment also can adopt leaf spring, rubber-like elastic body etc.
So far, according to embodiments of the invention, because can turn to turning to inboard rolling axis direction inclination pedal and handle to carry out, so even in the very high for example standing place of center-of-gravity position, the rider is steering vehicle and overcome centnifugal force and travel stably also.In this case, by axle and wheel are connected on the pedal parts, also can produce camber angle (camber angle) in the inboard of wheel steering, the side force that acts on like this on the tire just can reduce, and obtains stable tire earth-grasping force.
And, under the situation that is in first embodiment of the invention, when the road surface changes (left and right directions vertical with vehicle heading) along the rolling axis direction, for example when travelling when tilted road surface and a wheel travel on step, should can not tilt and the maintenance level to separating pedal, therefore such road surface just changes and can be absorbed by the height change that causes according to the heave and set variation that separates pedal, even the center of gravity with the rider that drives such as stance is very high, the rider yet can not have under the situation of wigwag motion stabilized driving and travels at its upper body part.And when driving on the step that is in direction of tilt, with similar with the pin going upstairs, the rider can come to climb up step with propulsive effort seldom by the center of gravity on the pin of the conversion left and right sides.
And according to embodiments of the invention, coaxial two-wheel vehicle can have a projection floor area that is used to hold general adult (width is about 400mm or littler, and length is about 250mm or littler).Therefore therefore, because the width of vehicle is identical with a pedestrian's shared space, even in crowded area for example on the footway, vehicle also can travel very swimmingly, and can not become other pedestrian's obstacle.
The grip part that the present invention is not limited to above-mentioned for example handle is the embodiment of U-shaped, and grip part can be linear, ellipse or circular, and can adopt the handle of other shape.Therefore under the situation that does not deviate from scope of the present invention and principle, can make a lot of distortion.
Be understandable that for the person of ordinary skill of the art, can make a lot of distortion, combination, little combination and change, as long as they all are within the scope of appended claim according to design requirement and other factors.
Claims (8)
1, a kind of coaxial two-wheel vehicle comprises:
Be used for the pedal that the driver drives;
Car body when travel direction is set to rolling axis, can change attitude thereby this car body supports described pedal on the rotating direction that rotates around the rolling axis as the center;
A pair of wheel, this is positioned at the both sides of same axis on the direction vertical with described car body travel direction to wheel and is rotatably supported by described car body;
A pair ofly drive individually and rotate described wheel driver wheel; With
The handle that is used for directly changing the attitude of described pedal or changes described attitude by described car body indirectly.
2, coaxial two-wheel vehicle as claimed in claim 1,
Wherein, described car body comprises parallel bindiny mechanism, this mechanism has vehicle body upper portion parts and the car body lower member that self be arranged in parallel, with a pair of side members, this is set parallel to each other about to side members and is connected in described vehicle body upper portion parts and car body lower member in rotating mode
Described pedal is divided into two, and described two pedals are fixed in described to side members individually so that two pedals that separate are provided, and described to wheel by described to the wheel drive parts by described to the side direction member supporting.
3, coaxial two-wheel vehicle as claimed in claim 1,
Wherein, described pedal is divided into two so that two pedals that separate are provided, described two pedals are supported in rotating mode individually by described car body, thereby and two separately pedal couple together and can rotate by attaching parts, and described handle is connected in its middle part in rotating mode, thus make described two separately pedal can synchronously rotate with the operation of described handle.
4, coaxial two-wheel vehicle as claimed in claim 1,
Wherein, described handle is fixed on the described pedal, and the attitude of described pedal can change by the operation of described handle.
5, coaxial two-wheel vehicle as claimed in claim 2,
Wherein, elastomeric element is between described vehicle body upper portion parts and described car body lower member, and this elastomeric element is used to produce elastic force remaining vertical by described vehicle body upper portion parts with car body lower member and the described angle that the side direction parts are formed respectively.
6, as the described coaxial two-wheel vehicle of above-mentioned claim 4,
Wherein, produce elastic force to keep the described pedal elastomeric element parallel between described pedal and described car body with described car body.
7, coaxial two-wheel vehicle as claimed in claim 1 also comprises:
Attitute detecting device is used to detect the angle between described pedal or described handle and the gravity axis, and exports described detection signal,
Wherein, described driving to wheel driver is controlled according to the detection signal of described Attitute detecting device, thereby predetermined centnifugal force is provided.
8, coaxial two-wheel vehicle as claimed in claim 1,
Wherein, according to exporting described control signal to,, the attitude of described pedal offsets the centnifugal force that is applied on the described rider thereby changing to wheel driver.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP117365/05 | 2005-04-14 | ||
| JP2005117365 | 2005-04-14 | ||
| JP105731/06 | 2006-04-06 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008101467843A Division CN101353070A (en) | 2005-04-14 | 2006-04-14 | Coaxial two-wheel vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1857959A true CN1857959A (en) | 2006-11-08 |
| CN100431906C CN100431906C (en) | 2008-11-12 |
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ID=37296925
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008101467843A Pending CN101353070A (en) | 2005-04-14 | 2006-04-14 | Coaxial two-wheel vehicle |
| CNB2006100898763A Expired - Fee Related CN100431906C (en) | 2005-04-14 | 2006-04-14 | Coaxial two-wheel vehicle |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008101467843A Pending CN101353070A (en) | 2005-04-14 | 2006-04-14 | Coaxial two-wheel vehicle |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4803231B2 (en) |
| CN (2) | CN101353070A (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP4803231B2 (en) | 2011-10-26 |
| CN100431906C (en) | 2008-11-12 |
| CN101353070A (en) | 2009-01-28 |
| JP2009023652A (en) | 2009-02-05 |
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