JP2010269698A - Traveling apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling apparatus capable of stable traveling. <P>SOLUTION: The traveling apparatus 10 can perform desired traveling while performing inversion control. Moreover, the traveling apparatus 10 includes an elastic connection member 1 connected to a moving body 100. The connection member 1 may use an elastic member disposed in the vehicle vertical direction or vehicle front/rear direction. Further, a damper member 31 for dampening the vibration of the connection member 1 may be attached in series to or in parallel with the connection member 1. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a traveling device that can perform desired traveling while performing inversion control, and more particularly to a traveling device that is coupled to a moving body via a connecting member.

  2. Description of the Related Art A traveling device that can perform desired traveling while performing inverted control for maintaining an inverted state is known. The traveling device is miniaturized and further capable of turning, and thus can travel in a small space. Therefore, this traveling device can be used not only for the movement of the passenger, but also for the movement of, for example, a carriage. On the other hand, a trailer is known that includes a traveling device that performs desired traveling while performing inversion control, and a container vehicle that is connected to the traveling device via a rigid arm (see, for example, Patent Document 1).

Japanese translation of PCT publication No. 2004-500207

  However, in the trailer shown in Patent Document 1, for example, when the traveling device and the container vehicle vibrate due to road surface unevenness or the like, the rigid arm may resonate and the stable traveling of the trailer may be impaired. is there.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a traveling device capable of stable traveling.

  One aspect of the present invention for achieving the above object is a traveling device that performs desired traveling while performing inversion control, and includes a resilient connecting member coupled to a moving body. It is. According to this one aspect, stable traveling is possible.

  In this one aspect, the connecting member may be an elastic member disposed in the vehicle up-down direction or the vehicle front-rear direction, for example. In this aspect, the connecting member may be a spring member, a rubber member, or a resin member that is disposed in the vehicle vertical direction or the vehicle front-rear direction. Furthermore, in this one aspect, a damper member that attenuates vibration of the connection member may be provided in series or in parallel with the connection member. Furthermore, in this aspect, the connection member may be a bellows arranged in the vehicle vertical direction or the vehicle front-rear direction. Furthermore, in this one aspect, the connection member is configured by a plurality of spring members, and the moving body is connected via the plurality of spring members arranged in series in the vehicle vertical direction. Good. Furthermore, in this aspect, the connecting member may be a cylinder that is disposed in the vehicle front-rear direction and in which a fluid is sealed. Furthermore, in this one aspect, the vehicle further includes a vehicle main body on which the passenger gets on, and a connecting portion protruding from the vehicle main body, and one end of the connecting member is connected to the connecting portion, The other end may be connected to the moving body.

  According to the present invention, it is possible to provide a traveling device capable of stable traveling.

It is a side view showing a schematic structure of a traveling device concerning one embodiment of the present invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention. It is a side view which shows schematic structure of the traveling apparatus which concerns on other embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing a schematic configuration of a traveling apparatus according to an embodiment of the present invention. For example, the traveling device 10 according to the present embodiment can perform desired traveling such as forward, backward, right turn, left turn, acceleration, deceleration, and stop while performing an inverted control to maintain an inverted state. It is configured as a motorcycle. The traveling device 10 is reduced in size, and further has a merit that it can be easily turned even in a small space since it can be turned.

  A moving body 100 is coupled to the traveling device 10 via an elastic connecting member 1. Thereby, the traveling device 10 performs a desired traveling while performing the inversion control, and can move the moving body 100 to an arbitrary position (for example, in a small space), which is excellent in convenience. Although a coaxial two-wheeled vehicle is applied as the traveling device 10, the present invention is not limited to this, and may be, for example, a wheelchair-type vehicle, and can be applied to any vehicle that can perform desired traveling while performing inversion control. is there.

  The traveling device 10 includes a vehicle main body 2 on which a passenger can ride, a pair of left and right drive wheels 3 rotatably provided on both sides of the vehicle main body 2, and an operation handle that is erected on the vehicle main body 2 and that can be operated by the passenger. 4 is provided.

  For example, when the vehicle body 2 and the operation handle 4 are tilted forward or rearward (in the pitch axis direction), the traveling device 10 forwards or reverses by rotating each drive wheel 3 forward or backward according to the tilt angle. Is configured to do. Further, when the traveling device 10 tilts the vehicle body 2 and the operation handle 4 to the right side or the left side (roll axis direction), a difference in rotation is generated between the left and right drive wheels 3 according to the tilt angle, and the right turn It is configured to turn or turn left. The traveling device 10 controls the rotational torque of the pair of drive wheels 3 in accordance with the inclination angle of the vehicle body 2 or the operation handle 4, thereby controlling the inclination angle in the pitch axis direction and performing the inversion control. Desired traveling can be performed.

  Here, in this specification, a pitch axis shall refer to an axis equivalent to an axle of a pair of drive wheels 3, for example. Further, the roll axis refers to an axis that passes through the center of the vehicle body 2 and is parallel to the traveling direction of the traveling device 10. Further, the yaw axis refers to a vertical axis passing through the center of the vehicle body 2.

  A connecting portion 5 is provided in front of and above the vehicle body 2 so as to protrude forward. An upper end of an elastic spring member 1 extending in the vehicle vertical direction is connected to the protruding connecting portion 5 via a fastening member such as a bolt or a nut. The elasticity of the spring member 1 is set in consideration of the traveling road surface on which the traveling device 10 travels, the type of the moving body 100 to be connected, and the like. For example, the elasticity of the spring member 1 is set high in the vehicle front-rear direction and is set lower in the vehicle vertical direction. As a result, the vibration in the pitch axis direction, the roll axis direction, and / or the yaw axis direction can be appropriately suppressed as described later while the distance between the traveling device 10 and the moving body 100 is kept constant.

  In addition, although the spring member 1 is used as the connection member 1, it is not restricted to this, For example, a rubber member, a resin member, etc. may be used and arbitrary elastic members can be used. Moreover, although the traveling apparatus 10 and the mobile body 100 are connected via the one spring member 1 extended in a vehicle up-down direction, it is not restricted to this, The some spring extended in parallel in a vehicle up-down direction. The structure connected via the member 1 may be sufficient.

  Furthermore, the connection part 5 may be provided so that attachment or detachment with respect to the vehicle main body 2 is possible. Similarly, the upper end of the spring member 1 may be detachably connected to the connecting portion 5. Thereby, the mobile body 100 can be easily attached to and removed from the traveling device 10 via the spring member 1.

  The moving body 100 is, for example, a cart having four wheels 101 on the front, rear, left and right. However, the moving body 100 is not limited to this, and may be a two-wheeled vehicle or a three-wheeled vehicle, for example, an arbitrary vehicle that can move. Also good. The movable body 100 includes a carriage main body 102 on which an article or the like can be placed, four wheels 101 that are rotatably provided in the front, rear, left, and right of the carriage main body 102, and a handle portion 103 that is erected on the carriage main body 102. And.

  On the rear side of the cart body 102 of the moving body 100, a connecting portion 104 is provided so as to protrude rearward. The lower end of the spring member 1 is connected to the protruding connecting portion 104 via a fastening member such as a bolt or a nut, for example. Here, the connecting portion 104 may be provided so as to be detachable from the moving body 100. Similarly, the lower end of the spring member 1 may be detachably connected to the connecting portion 104. Thereby, the mobile body 100 can be easily attached to and removed from the traveling device 10 via the spring member 1. In addition, the connection method of the spring member 1 is not limited to this embodiment, Arbitrary connection methods are applicable.

  By the way, in the conventional traveling device, for example, when the traveling device and the moving body vibrate due to road surface unevenness or the like, the rigid arm that connects the traveling device and the moving body to the pitch axis direction, the roll axis direction, and / or Or the vibration of a yaw axis direction generate | occur | produces and there exists a possibility that the stable driving | running | working of the said travel apparatus may be impaired.

  Therefore, the traveling device 10 according to the present embodiment includes the elastic spring member 1 connected to the moving body 100 as described above. As a result, the traveling device 10 and the moving body 100 vibrate due to road surface unevenness and the like, and the spring member 1 generates vibrations in the pitch axis direction, roll axis direction, and / or yaw axis direction. Vibrations (especially vibrations in the pitch axis direction and roll axis direction) are attenuated and absorbed. Therefore, the traveling device 10 and the moving body 100 can travel stably, and the operability and comfort of the traveling device 10 can be improved.

  Further, when the traveling device 10 is executing the inversion control, the elasticity of the spring member 1 allows the operation of the vehicle body 2 in the pitch axis direction to be appropriately allowed, so that the inversion control is appropriately performed. Can do. On the other hand, when the inversion control is stopped, the traveling device 10 is supported via the spring member 1, so that the posture of the traveling device 10 can be stabilized.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the connecting portion 5 may be provided in front of and below the vehicle body 2 of the traveling device 20, and the lower end of the spring member 1 may be connected to the upper surface of the connecting portion 5. In this case, a connecting portion 104 may be projected from the handle portion 103 of the moving body 100, and the upper end of the spring member 1 may be connected to the lower surface of the connecting portion 104 (FIG. 2).

  In the above-described embodiment, a damper member 31 such as a shock absorber that can efficiently attenuate the vibration of the spring member 1 may be provided in series or in parallel with the spring member 1 (FIG. 3). . The upper end of the damper member 31 is connected to the lower surface of the connecting portion 5 of the vehicle body 2 of the traveling device 30, the lower end of the damper member 31 is connected to the upper surface of the connecting portion 104 of the moving body 100, and the damper member 31 is The vehicle extends in the vertical direction. Thereby, the vibration of the spring member 1 in the pitch axis direction can be more effectively attenuated and absorbed, and the traveling device 30 and the moving body 100 can be traveled more stably.

  In the one embodiment, the spring member 1 is configured to be arranged in the vehicle vertical direction, but is not limited thereto, and may be configured to be arranged in the vehicle longitudinal direction, for example (FIG. 4). Thereby, since the vibration of the spring member 1 in the roll axis direction and the pitch axis direction can be effectively attenuated and absorbed, the traveling device 40 and the moving body 100 can be more stably traveled. Moreover, in the said one Embodiment, the structure arrange | positioned in the vehicle up-down direction and the vehicle front-back direction may be sufficient as the spring member 1 (FIG. 5), and arbitrary arrangement | positioning may be sufficient as long as the said vibration can be absorbed effectively. .

  In the said one Embodiment, the structure which connects the front of the traveling apparatus 60 and the back of the mobile body 100 by the rubber member or the resin member 61 may be sufficient respectively (FIG. 6). A pair of plates 62 are connected to both ends of the rubber member or the resin member 61, and the traveling device 60 and the moving body 100 are connected to each plate 62, respectively. Thereby, the vibration of the spring member 1 in the roll axis direction and the pitch axis direction can be more effectively attenuated and absorbed, and the traveling device 60 and the moving body 100 can be more stably traveled.

  In the above-described embodiment, the front of the traveling device 70 and the rear of the moving body 100 may be connected via the bellows 71 made of metal, rubber, resin, or the like arranged in the vehicle front-rear direction. Good (Fig. 7). Moreover, the structure which connects the front of the traveling apparatus 70 and the back of a moving body via the bellows 71 arrange | positioned at a vehicle up-down direction, respectively may be sufficient.

  In the above-described embodiment, the front of the traveling device 80 and the rear of the moving body 100 may be connected via a plurality of spring members 81 and 82 arranged in series in the vehicle vertical direction, respectively (see FIG. 8).

  The lower end of the first spring member 81 is connected to the upper surface of the connecting portion 5 of the vehicle body 2 of the traveling device 80, and the upper end of the second spring member 82 is connected to the lower surface of the connecting portion 5. Further, the connecting portion 105 of the moving body 100 is formed in a substantially U shape, and the upper end of the first spring member 81 is connected to the upper portion of the connecting portion 105, and the second spring member 82 is connected to the lower portion of the connecting portion 105. The lower end is connected. Thereby, especially the vibration of the spring members 81 and 82 in the pitch axis direction can be attenuated and absorbed more effectively, and the traveling device 80 and the moving body 100 can be stably traveled.

  In the above-described embodiment, a configuration in which the front of the traveling device 90 and the rear of the moving body 100 are connected via the cylinders 91 arranged in the vehicle front-rear direction may be employed (FIG. 9). The elastic cylinder 91 is filled with a fluid such as air or oil, for example.

  The present invention can be used, for example, in a traveling device that can move a moving body such as a carriage while maintaining an inverted state.

DESCRIPTION OF SYMBOLS 1 Spring member 2 Vehicle main body 3 Drive wheel 4 Operation handle 5 Connection part 10 Traveling apparatus 100 Moving body

Claims (8)

  A traveling device that performs a desired traveling while performing an inversion control, comprising: an elastic connecting member coupled to a moving body. The traveling device according to claim 1,
The travel device according to claim 1, wherein the connection member is an elastic member arranged in a vehicle vertical direction or a vehicle front-rear direction. The traveling device according to claim 1 or 2,
The travel device according to claim 1, wherein the connection member is a spring member, a rubber member, or a resin member arranged in a vehicle vertical direction or a vehicle longitudinal direction. The traveling device according to claim 2,
A travel device characterized in that a damper member for attenuating vibration of the connection member is provided in series or in parallel with the connection member. The traveling device according to claim 1,
The traveling device according to claim 1, wherein the connecting member is a bellows arranged in a vehicle vertical direction or a vehicle longitudinal direction. The traveling device according to claim 1,
The connection member is composed of a plurality of spring members,
The traveling device is characterized in that the moving body is connected through the plurality of spring members arranged in series in the vehicle vertical direction. The traveling device according to claim 1,
The traveling device according to claim 1, wherein the connecting member is a cylinder disposed in a vehicle front-rear direction and having a fluid sealed therein. The traveling device according to any one of claims 1 to 7,
A vehicle main body on which the passenger rides, and a connecting portion protruding from the vehicle main body,
One end of the connecting member is connected to the connecting portion, and the other end of the connecting member is connected to the moving body.

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