JP2010285102A - Inverted pendulum type two-wheel vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable running at a speed or acceleration temporarily exceeding the maximum output of a driving source such as a motor. <P>SOLUTION: An inverted pendulum type two-wheel vehicle 1 includes: two wheels 2; a driving source generating driving power to rotate the wheels 2; a control part controlling the driving source so as to run while maintaining the inverted pendulum type posture; and a human power transmission mechanism transmitting human power generated by the motion of a driver P to the wheels 2. For example, it is preferable that the human power transmission mechanism is provided on a riding part 3 where a user P rides, and a member 10 operable by a foot of the user P is included. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an inverted pendulum type two-wheeled vehicle having two wheels, and more particularly to auxiliary power thereof.

  In recent years, the development and use of an inverted pendulum type two-wheeled vehicle that has two wheels and travels while maintaining an inverted pendulum type posture has been promoted. Such an inverted pendulum type motorcycle normally travels using an electric motor or the like as a drive source.

  In Patent Document 1, a vehicle having the above-described configuration is disclosed. The vehicle according to this document has a configuration for the purpose of improving the stability of the vehicle or the driver when turning.

JP 2006-315666 A

  When the inverted pendulum type motorcycle described above is running, there may be a situation where it is desired to temporarily increase the speed. The maximum speed and acceleration of the vehicle are determined by the maximum output of a drive source such as a motor within a range in which safety is ensured. Therefore, as in the conventional inverted pendulum type two-wheeled vehicle, in the configuration in which the output for traveling is obtained from a single drive source (including a hybrid type or the like) such as a motor, even within a range in which safety is ensured, You cannot drive at speeds or accelerations that exceed the maximum output of the drive source. Further, in order to increase the maximum output, it is necessary to increase the size of the motor, the battery, etc. According to such measures, there are problems such as an increase in cost and weight of the vehicle body.

  Accordingly, an object of the present invention is to provide an inverted pendulum type motorcycle that can travel at a speed or acceleration that temporarily exceeds the maximum output of a drive source such as a motor.

  In order to solve the above problems, an inverted pendulum type two-wheeled vehicle according to the present invention is capable of traveling while maintaining two wheels, a drive source for generating a driving force for rotating the wheels, and an inverted pendulum type posture. A control unit that controls the drive source and a human power transmission mechanism that transmits the human power generated by the operation of the driver to the wheels are provided.

  According to the inverted pendulum type two-wheeled vehicle, when the driver performs a predetermined operation during traveling and operates the human power transmission mechanism, the human power generated by the driver's operation is used as power for rotating the wheel. . Thereby, the driving force exceeding the maximum output of the driving source can be applied to the wheels as required.

  Moreover, it is preferable that the said human power transmission mechanism is provided in the boarding part which the said user boards, and is provided with the member which can be operated with the said user's leg | foot.

  Various specific configurations are conceivable as the human power transmission mechanism. For example, a human power transmission mechanism can be configured by installing members that are displaced in accordance with the movement of legs, legs, hands, arms, trunks, etc., at appropriate portions of an inverted pendulum type two-wheeled vehicle. In particular, human power can be transmitted efficiently and safely by using a member that can be operated with a foot, such as a pedal or a wheel.

  According to the present invention, it is possible for the driver to drive the vehicle at a speed or acceleration that temporarily exceeds the maximum output of a drive source such as a motor by applying human power to the human power transmission mechanism as necessary. Become. As a result, comfort during driving can be improved, and urgent danger avoidance behavior can be taken. Furthermore, since the driver is given an opportunity to move a part of the body regularly, an effect of recovering fatigue caused by staying in the same posture for a long time can be expected.

It is the schematic which shows the external appearance of the inverted pendulum type two-wheeled vehicle which concerns on Embodiment 1 of this invention. FIG. 3 is a schematic cross-sectional view illustrating the internal structure of the inverted pendulum type two-wheeled vehicle and the structure of the human power transmission mechanism according to the first embodiment.

Embodiment 1
FIG. 1 shows an appearance of an inverted pendulum type motorcycle 1 according to the present embodiment. The inverted pendulum type motorcycle 1 includes a wheel 2, a riding section 3, a system box 4, a handle 5, and a pedal 10.

  As shown in FIG. 2, two wheels 2 are arranged on the axis A so as to be parallel to each other in the lower part of the inverted pendulum type motorcycle 1.

  The boarding part 3 is a member that allows both the wheels 2 to be rotatably connected by various members and allows the driver P to board. Further, it is possible to detect a change in the state of the riding section 3 and use the detection result for vehicle attitude control, travel control, and the like. However, the present invention is limited to the configuration and control of the riding section 3. Is not to be done.

  The system box 4 is a part that contains a drive source that generates a drive force for rotating the wheels 2, a control unit that includes a computer and controls the output of the drive source, and various members that constitute a human power transmission mechanism. . This human power transmission mechanism will be described in detail later.

  The handle 5 is a member that can be gripped by the driver P, and a lower end portion of the handle 5 is swingably connected to the riding portion 3 or a part of the control portion. An operation applied to the steering wheel 5 by the driver P can be detected by the control unit, and the detection result can be used for vehicle attitude control, travel control, and the like. It is not limited.

  The pedal 10 constitutes a part of the human power transmission mechanism. The pedal 10 according to the present embodiment is a member that is disposed under the foot of the driver P on the riding section 3 and is displaced when the driver P steps on the foot, and as shown in FIG. It is provided one by one.

  FIG. 2 shows the internal structure of the inverted pendulum type motorcycle 1 according to the present embodiment and the structure of the human power transmission mechanism. In the lower part of the figure, a base member 21, a motor 22, and a speed reducer 23 are shown. The base member 21 is fixed to the riding section 3 (not shown in FIG. 2). The motor 22 is fixed to the base member 21, and its drive shaft is connected to the wheel 25 of the wheel 2. The speed reducer 23 is connected to the drive shaft of the motor 22 and / or the wheel 25.

  In the upper part of the base member 21, pedals 10, a first gear 31, a second gear 32, a third gear 33, a fourth gear 34, a fifth gear 35, as members constituting a human power transmission mechanism, A sixth gear 36, a seventh gear 37, and a clutch 38 are shown.

  When the driver P steps on the left pedal 10 in the figure, the first gear 31 rotates about the axis B in the + direction (clockwise as viewed in the direction of the arrow). At this time, the left pedal 10 is pushed downward as shown by the right pedal 10 in the figure. Here, the + direction is a clockwise direction when the axes A, B, and C are viewed in the directions of the arrows. For example, when the left wheel 2 in the figure rotates in the + direction, the inverted pendulum type two-wheeled vehicle 1 is It proceeds in the direction indicated by the coordinate system Y (the direction from the paper surface to the near side). The-direction is the opposite of the + direction. The clutch 38 transmits its power to the second gear 32 only when the first gear 31 rotates in the + direction. When the first gear 31 rotates in the + direction, the second gear 32 also rotates in the + direction. The second gear 32 meshes with the third gear 33. The third gear 33 is fixed to the shaft 25 of the wheel 2. Thus, when the second gear 32 rotates in the + direction, the third gear rotates in the-direction and the wheel 2 rotates in the-direction.

  The fourth gear 34 meshes with the first gear 31 and rotates in the − direction around the axis C when the first gear 31 rotates in the + direction. The fifth gear 35 meshes with the fourth gear 34, and when the fourth gear 34 rotates in the − direction, the fifth gear 35 rotates in the − direction around the axis B. At this time, the right pedal 10 is pulled upward as shown by the left pedal 10 in the drawing. Further, when the fifth gear 35 rotates in the − direction, the power is not transmitted to the sixth gear 36 due to the action of the clutch 38. When the right pedal 10 is depressed, the fifth gear 35 rotates in the + direction as in the case of the left pedal 10, and the sixth gear 36, the seventh gear 37, and the right wheel are rotated. 2 rotates in the-direction.

  According to the above configuration, when the driver P depresses the pedal 10 while traveling, the human power generated by the depressing operation is used as power for rotating the wheels 2. Therefore, a driving force exceeding the maximum output of the motor 22 can be temporarily applied to the wheels 2, and the inverted pendulum type two-wheeled vehicle 1 can be driven at a speed or acceleration exceeding the limit of the motor 22. As a result, comfort during driving can be improved, and urgent danger avoidance behavior can be taken. Furthermore, since the driver P is given an opportunity to move his / her feet regularly, an effect of recovering fatigue caused by staying in the same posture for a long time can be expected.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention. In the present embodiment, the configuration using the pedal 10 provided in the riding section 3 is shown, but various other forms can be applied as the human power transmission mechanism according to the present invention. For example, a human power transmission mechanism can be configured by attaching members that are displaced in accordance with the movements of the legs, hands, arms, trunk, and the like to appropriate portions of the inverted pendulum type two-wheeled vehicle 1.

1 Inverted pendulum type motorcycle 2 Wheel 3 Riding part 4 System box (including drive source, control system, human power transmission mechanism, etc.)
5 Handle 10 Pedal (human power transmission mechanism)
21 base member 22 motor 23 speed reducer 25 wheel 31-37 first to seventh gear 38 clutch P driver

Claims (2)

Two wheels,
A driving source for generating a driving force for rotating the wheel;
A control unit for controlling the drive source so as to be able to run while maintaining an inverted pendulum type posture;
A human power transmission mechanism for transmitting human power generated by the action of the driver to the wheels;
An inverted pendulum type two-wheeled vehicle. The human power transmission mechanism is provided in a boarding unit on which the user is boarded, and includes a member operable by the user's foot,
The human power transmission mechanism according to claim 1.

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