JP2009078584A - Coaxial two-wheel travel vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that there are wearing of a support member, travel disturbance due to catch to irregularity of a floor surface, and impediment to miniaturization in a coaxial two-wheel travel vehicle provided with a trestle, though the travel vehicle prevents rotation of the trestle to the reverse direction of driving wheels caused by reaction force of driving force by extending the support member usually grounded to the floor surface from the trestle to the floor surface during travel. <P>SOLUTION: The driving wheels are fitted to the respective driving shafts provided to project nearly coaxially from the both sides of the trestle as well as on the centers of gravity of the sides. The vehicle is provided with a vertical detection means rotatably borne so as to be always positioned in the vertical direction to the driving wheels, and a weight member rotatably journaled in a direction orthogonal to the driving shafts. The vertical detection means and the weight member are connected by a link mechanism. The weight member turns according to inclination of the trestle to the floor surface and displaces the center of gravity to a direction of correcting the inclination of the trestle so as to correct the inclination of the trestle. Accordingly, the support member is unnecessary, and the wearing and the travel disturbance caused by hang-up to the floor surface are eliminated, which allows miniaturization. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a coaxial two-wheeled vehicle on which a heavy object is placed and moved.

  In a coaxial two-wheeled vehicle having a gantry loaded with a driving source such as a motor and driving wheels disposed substantially coaxially on both sides of the gantry, when driving with the driving wheels, the reaction force of the driving force There is a problem that the gantry rotates in the direction opposite to the rotation direction of the drive wheels. Conventionally, as a means for preventing this, the support member is extended from the gantry so as to be in contact with the floor surface, thereby preventing the gantry from rotating.

US Patent No. 6502657 B2 Specification FIG.2

  In the coaxial two-wheel vehicle configured as described above, the rod-shaped support member is always in contact with the floor surface during traveling, so that wear occurs and the support member is caught by the unevenness of the floor surface. There was a problem. Further, since the support member always travels in contact with the floor surface, when the floor surface is uneven, there is a problem that the gantry fluctuates according to the unevenness of the floor surface. Furthermore, since this support member needs to extend long from a mount frame, there also existed a problem which inhibited size reduction.

  The present invention has been made to solve the above-described problems, and does not require a support member that comes into contact with the floor surface. The coaxial two-wheels that can prevent the rotation of the pedestal due to the driving reaction force and can be reduced in size. The purpose is to obtain a traveling vehicle.

  A coaxial two-wheeled vehicle according to the present invention includes a mount on which a drive source such as a motor is mounted, a drive shaft that is rotationally driven by the drive source and projects substantially coaxially from both side surfaces of the mount, and the drive shaft. And the drive shaft is provided on both side surfaces of the gantry and at the center of gravity of the gantry in the front-rear direction on the side surface, and the drive shaft is always perpendicular to the drive shaft. A vertical detection means rotatably supported so as to be positioned at a position, and a weight member rotatably supported in a direction orthogonal to the drive shaft on the lower surface of the gantry, and the vertical detection means The weight member is connected by a link mechanism.

According to the coaxial two-wheel vehicle according to the present invention, the weight member pivotally supported on the lower surface of the gantry so as to be rotatable in the direction orthogonal to the drive shaft rotates about the shaft according to the inclination of the gantry with respect to the floor surface. Since the tilt of the gantry can be corrected by moving the centroid of the gantry in the direction to correct the tilt of the gantry, the gantry can be stabilized without the need for a support member that contacts the floor surface. The vehicle can be reduced in size without causing any obstacles in running due to wear or interference with the floor surface.
In addition, since the inclination of the gantry is corrected based on the vertical detection means that is fixed by gravity, the problem of the gantry fluctuating according to the unevenness of the floor surface can be solved.

Embodiment 1 FIG.
The first embodiment will be described below with reference to the drawings. 1 is a front view of the coaxial two-wheel vehicle according to the first embodiment, FIG. 2 is a plan view of the main part of the apparatus shown in FIG. 1, FIG. 3 is a side view of the main part of the apparatus shown in FIG. It is a principal part enlarged plan view for demonstrating the parallel link mechanism of the apparatus shown in FIG.
In the figure, reference numeral 1 denotes a planar rectangular box-like mount on which a drive source such as a motor (not shown) is mounted. Reference numeral 2 denotes a drive shaft that protrudes from both side surfaces of the gantry. When the traveling direction is the front, the drive shaft is provided at the center in the front-rear direction of the side surface. Driven. Reference numeral 3 denotes a drive wheel, which is fitted to the drive shaft 2. Reference numeral 4 denotes a vertical detection weight as vertical detection means, which is rotatably supported by the drive shaft 2. The vertical detection weight 4 always has its tip portion 4a positioned downward in the vertical direction of the drive shaft 2 due to gravity. Reference numeral 5 denotes a pin erected on the side surface of the vertical detection weight 4. Reference numeral 6 denotes a balance weight as a weight member, which is rotatably supported by a support shaft a7 erected on the lower surface of the gantry 1. A support shaft b8 is erected on the upper surface of the balance weight 6 (the gantry 1 side).

  Reference numeral 10 denotes a link a, one end of which is rotatably supported by a support shaft c11 which is erected downward from the lower surface of the gantry 1. A support shaft d12 is erected on the other end of the link a10. Reference numeral 13 denotes a link b, which is rotatably supported by a support shaft e14 erected downward from the lower surface of the gantry 1. A support shaft f15 is provided upright at the other end of the link b13. The support shaft a7, the support shaft c11, and the support shaft e14 are arranged so that the line connecting the centers of the shaft diameters is a straight line, and the straight line is parallel to the rotation plane of the drive wheel 3, and the support shaft a7. The distance from the support shaft b8, the distance from the support shaft c11 to the support shaft d12, and the distance from the support shaft e14 to the support shaft f15 are equal to each other, that is, the support shaft b8, the support shaft d12, and the support shaft. The line connecting the centers of the shaft diameters of f15 is a straight line, and the straight line is arranged to be parallel to the rotation plane of the drive wheel 3.

16 is a substantially L-shaped angle, and has round hole portions 16b, 16c, and 16d on a surface 16a parallel to the extending direction of the link a10 and the link b13, and a support shaft d12 is formed in a round hole portion 16b. A support shaft b8 is inserted into the hole 16c, and a support shaft f15 is inserted into the round hole 16d. Therefore, a link a10 that is pivotally supported on a support shaft C11 that is erected on the lower surface of the gantry 1, a link b13 that is pivotally supported on a fulcrum e14 that is erected on the lower surface of the gantry 1, a support shaft d12 that is erected on the link a10, and a link A parallel link mechanism 17 is constituted by an angle 16 pivotally supported by a support shaft f15 erected on b13.
Further, a long hole 16 f is formed in a surface 16 e of the angle 16 parallel to the rotation plane of the drive wheel 3, and a pin 5 erected on the vertical detection weight 4 is inserted. The short diameter of the long hole portion 16f is substantially the same as the outer diameter of the pin 5, and is formed so that the long diameter extends in the vertical direction.
The drive shaft 2, the drive wheel 3, the vertical detection weight 4, the balance weight 6, and the parallel link mechanism 17 are provided symmetrically on both side surfaces of the gantry 1.

  Next, the operation will be described. First, the stationary state will be described with reference to FIGS. 1, 2, 3, and 4. Since the gantry 1 in which a drive source such as a motor (not shown) is mounted is provided with a balance weight 6 and the like on its lower surface, its center of gravity is below the drive shaft 2, and the lower surface of the gantry 1 is the floor surface ( Position and stand still in parallel with the installation surface. At this time, the vertical detection weight 4 that is rotatably supported by the drive shaft 2 has its front end portion 4 a positioned in the vertical direction below the drive shaft 2 due to gravity. Accordingly, the pin 5 erected on the side surface of the vertical detection weight 4 is also positioned vertically below the drive shaft 2, so the angle 16 into which the pin 5 is inserted is also positioned vertically below the drive shaft 2, and the gantry 1 It is localized at the center of the front-rear direction. For this reason, the extending direction of the link a <b> 10 and the link b <b> 13 connected to the angle 16 is parallel to the axial direction Y of the drive shaft 2. The balance weight 6 that is rotatably supported by the support shaft a7 that is erected on the lower surface of the gantry 1 has a support shaft b8 that is connected to the angle 16 that is vertically below the drive shaft 2. It is parallel to the axial direction Y and is substantially the center of the gantry 1 in the front-rear direction. For this reason, the gantry 1 is balanced in the front-rear direction and can be stationary in a stable state.

Next, the case of running will be described with reference to FIGS. FIG. 5 is a plan view of a main part viewed from the top surface direction of the gantry 1 in a state in which the apparatus shown in FIG. 1 is traveling, and FIG. 6 is a side view of the main part in the state shown in FIG. 5 is a plan view from the direction of the arrow D in the drawing shown in FIG.
When a coaxial two-wheel vehicle travels in the direction of arrow A in the figure, the drive shaft 2 is rotated by a drive source such as a motor (not shown) mounted on the gantry 1 and the drive wheel 3 is rotated in the direction of arrow B in the figure. To do. At this time, since the gantry 1 is rotatable around the drive shaft 2 with respect to the floor surface, the gantry 1 starts to rotate in the direction indicated by the arrow C due to a reaction force of the driving force, and an inclination with respect to the floor surface occurs. Even in this state, the vertical detection weight 4 rotatably supported by the drive shaft 2 maintains its orientation by gravity regardless of the rotation of the drive shaft 2, so that the tip 4 a is positioned vertically below the drive shaft 2. Can keep you.

  Therefore, when the gantry 1 is rotated in the illustrated arrow C direction by the driving reaction force, the vertical gauge weight 4 is rotated relative to the gantry 1 in the illustrated arrow B direction. When this is viewed from the direction of the arrow D shown in FIG. 6 (upper surface direction of the gantry 1), the pin 5 erected on the side surface of the vertical detection weight 4 changes from the drive shaft 2 to the direction of the arrow E. The angle 16 in which 5 is inserted into the long hole portion 16f is also shifted from the drive shaft 2 to the rear side in the traveling direction of the gantry 1 in the direction of the arrow E shown in the drawing. At this time, the angle 16 constitutes the parallel link mechanism 17 together with the link a10 and the link b13, so that the side surface 16e of the angle 16 moves while being parallel to the rotation plane of the drive wheel 3. As the angle 16 changes, the balance weight 6 connected by the support shaft b8 rotates about the support shaft a7 in the illustrated arrow F direction. As a result, the center of gravity of the gantry 1 moves in the direction of the arrow G in the figure, so that the gantry 1 rotates in the direction of the arrow B in accordance with the movement of the center of gravity, and the tilt of the gantry 1 with respect to the floor surface is eliminated.

In conjunction with the rotation of the gantry 1 in the direction indicated by the arrow B, the relative positional relationship between the vertical detection weight 4 and the gantry 1 returns to the state shown in FIGS. As a result, the balance weight 6 rotates about the support shaft a7, and when the inclination of the gantry 1 with respect to the floor surface is eliminated, the extension direction of the balance weight 6 is parallel to the axial direction Y of the drive shaft 2 as in the stationary state. The balance weight 6 returns to substantially the center of the gantry 1 in the front-rear direction. Therefore, in a state where the inclination of the gantry 1 with respect to the floor surface is eliminated, the center of gravity of the gantry 1 returns to the approximate center in the front-rear direction, and a stable state can be maintained.
Note that when the vehicle is decelerating while traveling at a constant speed, the gantry 1 rotates in the direction of the arrow B in the figure with respect to the floor surface, contrary to the above. Similarly to the above, the balance weight 6 rotates in the direction to correct the inclination of the gantry 1 and moves the center of gravity of the gantry 1 to correct the inclination, so that the stability of the gantry 1 can be maintained.

The angle 16 constitutes a parallel link mechanism 17 together with the link a10 and the link b13, and the angle 16 moves with its side surface 16e parallel to the rotation plane of the drive wheel 3, so that the surface 16e of the angle 16 The short diameter of the long hole portion 16f drilled in the pin 5 can be substantially the same as the outer diameter of the pin 5, and fluctuations in the balance weight due to rattling between the pin 5 and the long hole portion 16f can be avoided. It is possible to prevent the gantry 1 from becoming unstable due to the wobbling.
In addition, the normal distance between the pin 5 and the lower surface of the gantry 1 varies with the rotation of the vertical detection weight 4 with respect to the gantry 1, but the shape of the hole 16f into which the pin 5 is inserted is a long hole. This variation can be absorbed.

As described above, in accordance with the inclination of the gantry 1 with respect to the floor surface, the balance weight 4 rotates about the support shaft a7, and the centroid of the gantry 1 is moved in a direction to correct the inclination of the gantry 1 to tilt the gantry 1 Therefore, it is possible to realize the stabilization of the gantry 1 without the need for a support member or the like that contacts the floor surface, and there is no trouble in running due to wear of the support member or interference with the floor surface. .
Further, since the inclination of the gantry 1 is corrected based on the vertical detection weight 4 that is fixed by gravity, the problem that the gantry 1 fluctuates according to the unevenness of the floor surface can be solved.
Further, since the supporting member that contacts the floor surface is not necessary, the size can be reduced.

  In the first embodiment, the components such as the vertical detection weight 4, the balance weight 6, and the parallel link mechanism 17 are arranged symmetrically for each of the left and right drive wheels. It may be arranged and is not particular about symmetrical arrangement. In any case, the same effect is obtained.

  In the first embodiment, the parallel link mechanism 17 is configured by the link a10 and the link b13. However, the parallel link mechanism 17 may be configured by one link and a balance weight, and the same effect is obtained. Play.

  The present invention is applied to a coaxial two-wheeled vehicle that moves with a heavy object placed thereon, thereby correcting the tilt of the gantry during traveling, eliminating the need for a support member that has been required in the past, It is possible to provide a coaxial two-wheel vehicle that is free from obstacles to travel due to interference with the floor and can be reduced in size.

1 is a front view of a coaxial two-wheel vehicle according to a first embodiment. It is a principal part top view of the apparatus shown in FIG. It is a principal part side view of the apparatus shown in FIG. It is a principal part enlarged plan view for the parallel link mechanism description of the apparatus shown in FIG. It is a principal part top view in the driving | running | working state of the apparatus shown in FIG. It is a principal part side view in the state shown in FIG.

Explanation of symbols

  1: stand 2: drive shaft 3: drive wheel 4: vertical detection weight 4a: tip 5: pin 6: balance weight 7: support shaft a 8: support shaft b 10: link a 11: support shaft c 12: support shaft d 13: Link b 14: Support shaft e 15: Support shaft f 16: Angle 16a: Angle surface 16b, 16c, 16d: Round hole portion 16e: Angle surface 16f: Long hole portion 17: Parallel link mechanism

Claims (2)

  A coaxial having a mount on which a drive source such as a motor is mounted, a drive shaft that protrudes substantially coaxially from both side surfaces of the mount and is rotationally driven by the drive source, and a drive wheel that is fitted to the drive shaft. In a two-wheeled vehicle, the drive shaft is provided on both side surfaces of the gantry and at the center of gravity of the gantry in the front-rear direction on the side surface, and the drive shaft rotates so as to be always positioned vertically with respect to the drive shaft. A vertically detecting means that is freely supported and a weight member that is pivotally supported on the bottom surface of the gantry so as to be rotatable in a direction orthogonal to the drive shaft on a horizontal plane are disposed, and the vertical detecting means and the weight A coaxial two-wheeled vehicle characterized in that members are connected by a link mechanism.   The coaxial two-wheel vehicle according to claim 1, wherein the link mechanism that connects the vertical detection means and the weight member includes a parallel link mechanism.

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