JP2011063210A - Inverted pendulum type moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate the radiation of heat of electric motors even when reduction in size of an inverted pendulum type moving body is promoted, by achieving both of the reduction in size of the inverted pendulum type moving body and good radiation performance of the electric motors. <P>SOLUTION: The electric motors 82L, 82R of a travel unit and step mounting parts 180L, 180R are fixed and installed to a lower frame 22 by common metallic mount members 81L. 81R. Heat of the electric motors 82L, 82R is transmitted to the step mounting parts 180L, 180R through the mount members 81L, 81R, facilitating the heat radiation from the step mounting parts 180L, 180R. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an inverted pendulum type moving body, and more particularly to an inverted pendulum type moving body provided with a traveling unit having an electric motor as a prime mover.

  A traveling unit comprising a pair of driving bodies respectively driven by separate electric motors, and one main wheel sandwiched between the pair of driving bodies and driven by receiving frictional force from the driving bodies. An inverted pendulum type moving body is known (for example, Patent Document 1). A main wheel according to Patent Document 1 is an endless annular ring body, and a plurality of the main wheels are arranged in the ring direction of the ring body, and each is driven so as to be rotatable around a rotation axis parallel to the tangential direction of the ring body And a driven roller is driven in contact with the driving body. When the driven roller rotates (rotates) around the rotation axis in the tangential direction of the annular body, the inverted pendulum type moving body obtains thrust in the left-right direction, and the driven roller rotates (revolves) in the ring direction of the annular body When doing so, the inverted pendulum type moving body obtains thrust in the front-rear direction.

International Publication No. 08/1327979 Pamphlet

  In the inverted pendulum type moving body as described above, the electric motor is generally arranged inside a shell-structure base that also serves as a skeleton structure. The inverted pendulum type moving body is desired to have a miniaturized design that eliminates the dead space inside the base body as much as possible for easy handling.

  On the other hand, however, the heat dissipation performance (natural cooling performance) of the electric motor disposed inside the base body decreases as the design of the inverted pendulum type moving body becomes smaller. For this reason, in an inverted pendulum type moving body that has been designed to be compact, it is a problem how to perform heat dissipation of the electric motor.

  The problem to be solved by the present invention is to achieve both the miniaturization design of the inverted pendulum type moving body and the heat dissipation performance of the electric motor. To do well.

  An inverted pendulum type moving body according to the present invention includes a base, a traveling unit that is provided on the base and travels the base with respect to a floor surface, and a step portion that is provided on the base and on which a passenger's foot is placed. The traveling unit includes an annular main wheel, an electric motor disposed inside the base body, and a driving body that transmits the rotation of the electric motor to the main wheel. And the step portion includes a metal step attachment portion and a step main body portion provided on the step step attachment portion to form an actual footrest portion, and the electric motor and the step attachment portion are made of metal. It is fixedly mounted on the base body by a common mount member made of the same.

  The inverted pendulum type moving body according to the present invention preferably further includes a heat radiating plate portion that is integral with the step mounting portion and protrudes outward from the step mounting portion and exposed to the outside of the base.

  In the inverted pendulum type moving body according to the present invention, preferably, a strain gauge for detecting a step load is attached to the step mounting portion or the step main body portion, and the heat radiating plate portion is for temperature compensation of the strain gauge. A temperature-compensated strain gauge is installed.

  According to the inverted pendulum type moving body of the present invention, the electric motor and the step mounting portion are fixedly mounted on the base body by a common metal mounting member, so that the electric motor is connected to the step mounting portion via the mounting member. It is connected in a heat conduction relationship, and heat generated by the electric motor is transmitted to the step mounting portion via the mount member, and is radiated to the atmosphere from the step mounting portion and the heat radiating plate portion. As a result, the electric motor is cooled well and the electric motor is prevented from being overheated.

The perspective view which shows the boardable state (state which expanded the saddle and the step) of the inverted pendulum type moving body The perspective view which shows the accommodation state (state which stored the saddle and the step) of the inverted pendulum type mobile body Rear view showing the state in which an inverted pendulum type mobile body can be boarded An exploded perspective view of an inverted pendulum type moving body V-V cross section of Fig. 1 Exploded perspective view of superstructure VII-VII sectional view of FIG. VIII-VIII sectional view of FIG. The principal part expanded sectional view of FIG. Perspective view showing the electrical unit The perspective view which shows a partially broken connection structure of the upper structure and the lower structure Sectional view showing the connection structure of the upper structure and lower structure Block diagram showing the control system of an inverted pendulum type moving body Perspective view showing boarding style of inverted pendulum type moving body

Hereinafter, details of an inverted pendulum type moving body according to an embodiment of the present invention will be described with reference to the drawings. In the description, the direction of the inverted pendulum type moving body and its constituent elements is determined as shown in the figure, with the vertical direction being the vertical direction and the front-rear direction and the left-right direction being orthogonal to each other on a horizontal plane perpendicular to the vertical direction. In addition, about the same member provided symmetrically, L and R are attached | subjected to the subscript of a number, and only one is demonstrated.
<Overall configuration of inverted pendulum type moving body>

  As shown in FIG. 1 to FIG. 5, an inverted pendulum type moving body (hereinafter simply referred to as a moving body) 1 includes a frame 2 that forms a base as a skeleton structure extending in a generally vertical direction, and a frame 2. A traveling unit 3 provided in the lower part of the frame, a seating unit 4 provided in the upper part of the frame 2, an electrical unit 11 provided in the frame 2, and an upper part of the frame 2, each unit and sensor A battery unit 10 for supplying power is included as a main component.

The electrical unit 11 includes an inverted pendulum control unit (inverted pendulum control unit; hereinafter simply referred to as a control unit) 5, an upper load sensor 6, and an inclination sensor (inclination angle detection means) 7. The control unit 5 drives and controls the traveling unit 3 in accordance with input signals from various sensors based on the inverted pendulum control, and maintains the moving body 1 in the standing posture. In addition to the electrical unit 11, the moving body 1 includes a step load sensor 8 and rotary encoders 9L and 9R.

<Frame structure>

  As shown in FIGS. 1 and 2, the frame 2 forms the base of the moving body 1 and has a hollow outer shell structure, and the width in the front-rear direction is larger than the width in the left-right direction. It has a large flat shape. The frame 2 has a constricted portion 2A around the entire circumference in the center in the up-down direction, and the constricted portion 2A is recessed more in the front-rear direction than in the left-right direction. As a result, the frame 2 has a shape of approximately 8 when viewed from the left-right direction.

  The frame 2 is divided into upper and lower portions in the constricted portion 2A, and is composed of an upper frame 21 and a lower frame 22 which are separate from each other as shown in FIG. The upper frame 21 and the lower frame 22 are each made of dry carbon (carbon fiber reinforced resin: CFRP) formed by thermosetting a carbon prepreg sheet. The upper frame 21 and the lower frame 22 are connected via an upper load sensor 6 (FIG. 5) described later.

  As shown in FIG. 5, the upper frame 21 is formed in an annular shape so as to form a saddle storage portion 24 penetrating in the left-right direction at the center, and the inside of the annular portion is formed hollow. The internal space 26 formed in the annular portion is defined as a front internal space 26A, a rear internal space 26B, an upper internal space 26C, and a lower internal space 26D with reference to the saddle storage 24. A lower opening 25 that opens downward is formed at the lower end of the upper frame 21, and the lower internal space 26D communicates with the outside. An upper opening 27 that opens upward is formed at the upper end of the upper frame 21, and the upper internal space 26C communicates with the outside. A saddle mounting hole 28 that connects the upper internal space 26 </ b> C and the saddle storage portion 24 is formed in the upper wall portion of the saddle storage portion 24. A connection concave portion 29 is formed in the lower wall portion of the saddle storage portion 24 and located above the lower opening 25 so as to be recessed downward from the saddle storage portion 24. A connecting hole 30 that is a through hole is formed in the center of the bottom. The connection recess 29 and the connection hole 30 form a connection part with the lower structure 14 described later.

  As shown in FIG. 3, a switch panel 40 is embedded in the rear outer surface of the upper frame 21. The switch panel 40 includes a power switch 41 that turns on and off the main power source of the moving body 1 and a power lamp 42 that displays an on / off state of the main power source of the moving body 1.

  As shown in FIG. 6, a pair of metal support bases 51 </ b> L and 51 </ b> R are bonded to the inner wall of the lower inner space 26 </ b> D of the upper frame 21 so as to be positioned in the left-right direction with the connection recess 29 interposed therebetween. ing. Each of the support bases 51L and 51R has a horizontal plane portion, extends in the front-rear direction, and has a female screw hole that penetrates the horizontal plane portion up and down in the horizontal plane portion.

  As shown in FIG. 4, the lower frame 22 has an upper opening 31 and a lower opening 32 and is formed in a cylindrical shape. The left and right side walls 33 of the lower frame 22 extend generally in the vertical direction and are parallel to each other. The front and rear walls 34A, 34B of the lower frame 22 bulge in the front-rear direction as it goes from the upper side to the lower side, and the lower part of the lower frame 22 is semicircular when viewed from the left-right direction. The lower part of the lower frame 22 that forms a semicircle defines an accommodation space 35 that accommodates the upper half of the traveling unit 3.

  The left and right side walls 33 are respectively formed with semicircular cutouts 36 continuing to the lower opening 32. The left and right cutouts 36 are arranged coaxially with each other with a horizontal axis. At the boundary portion between the notch 36 and the lower opening 32, one projecting piece 37 extending downward is formed on the front and rear sides so as to extend the peripheral edge of the notch 36. Ventilation holes 39 are formed in the upper portions of the front and rear walls 34A and 34B and in the portions forming the constricted portion 2A. The vent holes 39 are elongated through holes extending in the left-right direction, and a plurality of the vent holes 39 are arranged in parallel in the up-down direction.

  A pair of metal support bases 53L and 53R are bonded to the inner wall near the upper opening 31 in the left and right side walls 33 of the lower frame 22, respectively. Each support base 53 extends in the front-rear direction, and its upper surface is a horizontal plane. In the vicinity of the front and rear ends of each support base 53, female screw holes 54 (FIG. 11) penetrating in the vertical direction are formed.

As shown in FIG. 5, the seating unit 4, the battery unit 10, and the like are mounted on the upper frame 21, and the upper structure 13 is configured by these. In addition, the traveling unit 3, the electrical unit 11, various sensors 8, 9, and the like (FIGS. 4 and 8) are mounted on the lower frame 22, and the lower structure 14 is configured by these. The upper structure 13 and the lower structure 14 can be separated from each other.
<Configuration of the seating unit>

  As shown in FIG. 7, the seating unit 4 includes a base body 61, a pair of left and right saddle arms 62L and 62R, and a pair of left and right saddles 63L and 63R. The base body 61 is disposed in the upper internal space 26 </ b> C through the upper opening 27 of the upper frame 21, and the upper wall closes the upper opening 27. The base main body 61 includes a support shaft 65 extending in the front-rear direction at the lower portion thereof.

  The support shaft 65 pivotally supports base end portions 66L and 66R of a pair of left and right saddle arms 62L and 62R. The saddle arms 62L and 62R extend from the base end portions 66L and 66R through the saddle mounting holes 28 of the upper frame 21, and the distal end portions 67L and 67R are positioned outside the upper frame 21. The left saddle arm 62L has a distal end portion 67L lower than the base end portion 66L, that is, a use position (deployed) that is located generally to the left with respect to the base end portion 66L from the storage position in the saddle storage portion 24. Position). Similarly, the right saddle arm 62R is moved from a retracted position in which the distal end portion 67R is located substantially below the proximal end portion 66R to a use position (deployed position) located substantially to the right relative to the proximal end portion 66R. And can be rotated. The left and right saddle arms 62L and 62R are each formed in a curved shape so as to protrude downward at the use position.

  The saddle arms 62L and 62R are connected to each other via a link mechanism (not shown). When one is in the storage position, the other is also in the storage position, and when one is in the use position, the other is also stored. It is designed to rotate in conjunction with the position. The base body 61 is provided with a lock mechanism (not shown). The locking mechanism selectively engages with the engagement holes provided in the saddle arms 62L and 62R in a state where the saddle arms 62L and 62R are located at the retracted position or the use position, thereby causing the saddle arms 62L and 62R to be engaged. Hold in the storage or use position.

  Saddles 63L and 63R are provided at the end portions 67L and 67R of the saddle arms 62L and 62R, respectively. Each saddle 63L, 63R includes support portions 69L, 69R connected to the tip portions 67L, 67R, and disc-shaped cushion portions 70L, 70R attached to the support portions 69L, 69R. One side surface of the cushion portions 70L and 70R is attached to the support portions 69L and 69R, and the other side surface forms a seating surface. In a state where the saddle arms 62L and 62R are located at the use positions, the cushion portions 70L and 70R are disposed above the support portions 69L and 69R, and the seating surfaces face upward. The left and right buttocks and thighs of the occupant (sitting person) are placed on the seating surfaces of the cushion parts 70L and 70R. In this way, the passenger's load is applied to the upper frame 21 via the saddles 63L and 63R, the saddle arms 62L and 62R, and the base body 61.

  In the state where the saddle arms 62L and 62R are located at the retracted positions, the support portions 69L and 69R of the saddles 63L and 63R are located within the saddle retractable portion 24, and the seating surfaces of the cushion portions 70L and 70R are left outward or right. The saddle storage unit 24 is closed by facing outward.

On the upper wall forming the upper surface of the base body 61, a retractable handle 71 is provided for supporting the moving body 1 by an operator. When not in use, the handle 71 is stored in a handle storage portion 72 that is recessed in the upper wall of the base body 61, and is in a state indicated by a solid line in FIG. On the other hand, in use, as shown by a two-dot chain line in FIG. 2, the front and rear legs 71 </ b> A slide upward and the handle 71 protrudes above the base body 61. The operator can hold the handle 71 to lift and carry the movable body 1 or can support the movable body 1 while the operation is stopped to prevent its tilting.
<Configuration of traveling unit>

  8 and 9, the traveling unit 3 includes a pair of left and right mount members 81L and 81R as support members, and a pair of left and right electric motors attached to the pair of left and right mount members 81L and 81R. 82L, 82R, wave gear devices 83L, 83R serving as speed reducers for decelerating and transmitting the outputs of the electric motors 82L, 82R, and drives rotated by the electric motors 82L, 82R via the wave gear devices 83L, 83R, respectively. The body 84L, 84R and the main wheel 85 rotated by the left and right drive bodies 84L, 84R are provided. Since the mount members 81L and 81R, the electric motors 82L and 82R, and the wave gear devices 83L and 83R are left-right symmetric, only the left configuration will be described, and the description of the right configuration will be omitted. Since the drive bodies 84L and 84R are partially different on the left and right, the description on the right side of the same configuration is omitted, and only the right side of the different configuration is also described.

  As shown in FIG. 8, the mount member 81L is a cylindrical member having a bottom portion 91L at one end and an opening at the other end, and a plurality of flange portions 92L extending radially outward at the opening end. I have. A through hole 93L is formed at the center of the bottom 91L of the mount member 81L. An electric motor 82L is disposed inside the cylindrical portion of the mount member 81L.

  The electric motor 82L is a brushless DC motor, and includes a cylindrical stator housing 95L having a stator coil (not shown) and the like, and a permanent magnet that is rotatably supported in the stator housing 95L. And a rotor shaft 96L extending outwardly of 95L. A flange portion 97L projects from the outer peripheral portion of the stator housing 95L in the radial direction. The flange portion 97L is bolted to the bottom portion 91L of the mount member 81L via a spacer 98L. Thereby, a space is formed between the flange portion 97L and the bottom portion 91L.

  In this way, the electric motor 82L is fixed to the mount member 81L so that the axis of the rotor shaft 96L matches the axis of the mount member 81L. The rotor shaft 96L passes through the through hole 93L of the mount member 81L and extends to the outside of the mount member 81L. A wave gear device 83L is provided at the tip of the rotor shaft 96L. A rotary encoder 9L is provided on the other end side of the rotor shaft 96L. The rotary encoder 9L may be a known one, and its casing is attached to the stator housing 95L, and detects the rotational position of the rotor shaft 96L.

  The wave gear 83L has a well-known structure, and has a wave plug 101L as an input member having a high rigidity and an outer periphery formed in an elliptical shape, and a flexible wave fitted and fitted to the outer periphery of the wave plug 101L. The bearing 102L, the thin cylindrical outer flexible member 103L that is fitted and fitted to the outer peripheral surface of the wave bearing 102L, and the outer teeth are formed on the outer peripheral surface, and the outer teeth of the outer tooth member 103L on the inner peripheral surface And an internal gear member 104L as a high-rigidity and ring-shaped output member formed with meshing internal teeth. One side of the external tooth member 103L includes a flange portion 105L that passes through the through-hole 93L of the mount member 81L, extends into the cylindrical portion of the mount member 81L, and extends radially outward. The flange portion 105L is disposed between the bottom portion 91L of the mount member 81L and the flange portion 97L of the electric motor 82L. The wave plug 101L is concentrically connected to the rotor shaft 96L. When the wave plug 101L is rotated by the rotor shaft 96L, the internal gear member 104L is rotated at a reduced rotational speed. The internal tooth member 104L is connected to a drive disk 121L of a drive body 84L described later.

  As shown in FIGS. 8 to 9, the drive body 84L includes a drive disk 121L and a plurality of drive rollers 122L supported by the drive disk 121L. The drive disk 121L is a disk-shaped member, and has a disk portion 123L having a through-hole 133L at the center of rotation, and the entire circumference from the outer periphery of the disk portion 123L to one side in the rotation axis direction of the disk portion 123L. A large-diameter ring portion 124L projecting in the direction and a small-diameter ring portion 125L projecting coaxially with the rotation shaft on the other side in the rotation axis direction of the disk portion 123L from the disk portion 123L. The inner diameter of the large-diameter ring portion 124L of the drive disk 121L is formed larger than the cylindrical portion of the mount member 81L.

  The large-diameter ring portion 124L includes a plurality of drive rollers 122L that are rotatably supported by the roller shaft 126L in the circumferential direction at equal intervals. The drive roller 122L is made of a highly rigid material such as metal or hard plastic.

  Each drive roller 122L is arranged such that its rotation surface is neither perpendicular nor parallel to the axis (rotation center) of the drive disk 121L, and each rotation surface rotates about the axis of the drive disk 121L. They are arranged symmetrically. The positional relationship of the drive roller 122L with respect to the drive disk 121L approximates the positional relationship of the tooth portion with respect to the helical bevel gear. If a more detailed explanation is necessary, refer to the pamphlet of International Publication No. 2008/139740. The position of the roller shaft 126L is adjusted so that the outer peripheral portion of the drive roller 122L protrudes outward from the outer peripheral surface of the large-diameter ring portion 124L.

  Here, the right drive disk 121R and the left drive disk 121L are different in the structure of the small-diameter ring portions 125L and 125R. The inner diameter of the small diameter ring portion 125R of the right drive disk 121R is formed larger than the outer diameter of the small diameter ring portion 125R of the left drive disk 121L. The other configuration of the right drive disk 121R is the same as that of the left drive disk 121L.

  The drive disk 121L is rotatably supported on the outer peripheral portion of the cylindrical portion of the mount member 81L via the cross roller bearing 135L at the inner peripheral portion of the large diameter ring portion 124L. In this state, the axis (rotary axis) of the drive disk 121L is coaxial with the axis of the mount member 81L. The cross roller bearing 135L is a rolling bearing that can support a radial load and an axial load (thrust load). The cross roller bearing 135 is prevented from coming off by fastening rings 137L and 138L fastened to the drive disk 121L and the mount member 81L, respectively. With this configuration, the relative position of the drive disk 121L with respect to the mount member 81L is fixed.

  With the drive disk 121L supported by the mount member 81L, the wave gear device 83L is disposed in the through hole 133L of the disk portion 123L of the drive disk 121L. The inner gear member 104L of the wave gear device 83L is bolted to the disc portion 123L of the drive disk 121L at the outer periphery thereof. With the above configuration, the output of the electric motor 82L is decelerated by the wave gear device 83L and then transmitted to the drive disk 121L.

  The left and right drive disks 121L and 121R are connected coaxially and relatively rotatably via a cross roller bearing 140 at the small diameter ring portions 125L and 125R. The cross roller bearing 140 is fitted to the outer peripheral portion of the small diameter ring portion 125L of the left drive disk 121L and is also fitted to the inner peripheral portion of the small diameter ring portion 125R of the right drive disk 121R. The cross roller bearing 140 is prevented from coming off by fastening rings 141 and 142 respectively fastened to the small diameter ring portion 125L of the left drive disk 121L and the small diameter ring portion 125R of the right drive disk 121R. With this configuration, the relative positions in the axial direction of the left and right drive disks 121L and 125R are fixed to each other.

  With the above configuration, the axis of the left and right mount members 81L and 81R, the axis of the left and right electric motors 82L and 82R (rotation center), the center of rotation of the left and right wave gear devices 83L and 83R, and the axis of the left and right drive disks 121L and 121R (Rotation center) are all arranged on the same axis. Hereinafter, these coincident axes are referred to as the rotation axis A of the traveling unit 3.

  In a state in which the left and right drive disks 121L and 121R are connected (that is, in a state in which the left and right drive bodies 84L and 84R are assembled), the left and right drive rollers 122L and 122R are disposed at positions separated by a predetermined distance. A main wheel 85 is disposed between the left and right drive rollers 122L and 122R.

  The main wheel 85 includes an endless annular ring body 161 formed of a prismatic body, a plurality of inner sleeves 162 fitted on the outer periphery of the ring body 161, and ball bearings 163 on the outer periphery of each inner sleeve 162. And a plurality of cylindrical driven rollers 164 supported so as to be rotatable therethrough. The driven roller 164 includes a metal cylindrical portion 164A that is fitted to the outer peripheral portion of the ball bearing 163, and a rubber cylindrical portion 164B that is vulcanized and bonded to the outer peripheral surface of the metal cylindrical portion 164A. The material of the rubber cylindrical portion 164B is not limited to rubber, and may be another resin material having flexibility. The rubber cylindrical portion 164B of the driven roller 164 contacts the road surface when the moving body 1 is in use (running state).

  A plurality of driven rollers 164 are provided in the ring direction (circumferential direction) of the annular body 161 together with the inner sleeve 162, and form the outer end surface of the main wheel 85. Each driven roller 164 is rotatable around a rotation axis parallel to the tangential direction of the annular body 161 at the position where the driven roller 164 is disposed. The rotation about the rotation axis parallel to the tangential direction of the annular body 161 of the driven roller 164 is called rotation. An annular cover 166 is mounted between the adjacent driven rollers 164 to prevent foreign matter from getting caught in the ball bearing 163.

  The inner diameter of the main wheel 85 formed by the driven roller 164 is set smaller than the outer diameter of the drive bodies 84L and 84R formed by the drive rollers 122L and 122R. On the other hand, the outer diameter of the main wheel 85 is formed larger than the outer diameter of the drive bodies 84L and 84R. Here, the outer diameter and inner diameter of the main wheel 85 are determined with respect to a virtual line connecting the driven rollers 164. Similarly, the outer diameters of the drive bodies 84L and 84R are determined with respect to a virtual line connecting the left and right drive rollers 122L and 122L. By combining the left and right drive bodies 84L and 84R with the main wheel 85 interposed, the main wheel 85 is sandwiched between the left and right drive bodies 84L and 84R.

  In a state where the main wheel 85 is assembled to the left and right drive bodies 84L and 84R, the outer peripheral surface of the rubber cylindrical portion 164B of the driven roller 164 and the outer peripheral surface of the left and right drive rollers 122L and 122R come into contact with each other by friction. The rotational force (propulsive force) of the drive disks 121L and 121R is transmitted to the driven roller 164 via the drive rollers 122L and 122R.

  The left and right drive rollers 122L and 122R are inclined with respect to the rotation direction (revolution direction) around the central axis of the main wheel 85, and have a rotation axis that is twisted with respect to the rotation axis of the drive disks 121L and 121R. And having a rotational surface along one virtual plane that is neither parallel nor orthogonal to the central axis of the drive disks 121L and 121R.

  The number relationship between the driven roller 164 and the left and right drive rollers 122L and 122R is such that at least one pair of left and right drive rollers 122L and 122R is in contact with each of the driven rollers 164 that are in contact with the road surface at the bottom. Is set to Thereby, the rotational force of the drive disks 121L and 121R is applied to each of the driven rollers 164 that are in contact with the road surface via the drive rollers 122L and 122R.

  In the traveling unit 3 according to the present embodiment, when the left and right drive disks 121L and 121R have different rotational directions or (and) rotational speeds by the left and right electric motors 82L and 82R, the left and right drives are driven by the drive rollers 122L and 122R. A component force in a direction orthogonal to the circumferential (tangential) force due to the rotational force of the disks 121L and 121R acts on the contact surface between the left and right drive rollers 122L and 122R and the driven roller 164. Due to this component force, the driven roller 164 rotates (rotates) around its own central axis.

  The rotation of the driven roller 164 is determined by the rotational speed difference between the left and right drive disks 121L and 121R. For example, when the left and right drive disks 121L and 121R are rotated in the opposite directions at the same speed, the driven roller 164 does not rotate (revolves) in the circumferential direction of the main wheel 85, and only the driven roller 164 rotates. That is, the main wheel 85 generates a driving force (propulsive force) in the left-right direction.

  On the other hand, when the rotational directions and rotational speeds of the left and right drive disks 121L and 121R are the same, the driven roller 164 rotates in the circumferential direction of the main wheel 85 without rotating, and the main wheel 85 rotates. . That is, the main wheel 85 generates a driving force (propulsive force) in the front-rear direction. This rotation of the driven roller 164 in the circumferential direction of the main wheel 85 (rotation around the center of the main wheel 85) is called revolution.

  As described above, by combining the rotation and revolution of the driven roller 164 at an arbitrary ratio, the traveling unit 3 can generate a driving force in any direction of front, rear, left and right.

Next, a structure for fixing the traveling unit 3 to the lower frame 22 will be described. As shown in FIG. 4, the traveling unit 3 has its upper half disposed inside the accommodation space 35 of the lower frame 22 so that its axis A is parallel to the left-right direction. In this state, as shown in FIG. 8, the flange portions 92 </ b> L and 92 </ b> R of the left and right mount members 81 </ b> L and 81 </ b> LR of the traveling unit 3 are connected to the peripheral edge portion and the projecting piece of the notch portion 36 on the left and right side walls 33 of the lower frame 22. 37 abuts on the inner surface.
<Step configuration>

  As shown in FIGS. 4 and 8, left and right steps 179L and 179R are provided outside the left and right side walls 33 of the lower frame 22, respectively. Steps 179L and 179R have step attachment portions (step bases) 180L and 180R, and step main body portions 183L and 183R that form actual footrest portions, respectively.

  The step attachment portions 180L and 180R are made of a metal material and have a ring shape, and are formed in a shape along the peripheral edge of the notch 36 and the two protruding pieces 37. Bolt holes are formed at appropriate positions in the flange portions 92L and 92R of the left and right mount members 81L and 81R, corresponding to the peripheral edge portion of the notch portion 36, the two projecting pieces 37, and the bolt holes of the step attachment portions 180L and 180R. Through holes are formed at appropriate positions. The step mounting portions 180L and 180R and the flange portions 92L and 92R of the left and right mounting members 81L and 81R of the traveling unit 3 are bolted together with the peripheral portion of the notch portion 36 and the two projecting pieces 37 interposed therebetween. As a result, the step attachment portions 180L and 180R and the traveling unit 3 are fixed to the lower frame 22.

  In other words, the stator housings 95L and 95R of the left and right electric motors 82L and 82R of the traveling unit 3 and the step attachment portions 108L and 180R are fixedly attached to the lower frame 22 by the common mounting members 81L and 81R. The mount members 81L and 81R are made of metal, and are preferably made of a metal having good heat conductivity such as an aluminum alloy.

  As shown in FIG. 8, the inner surfaces of the lower portions of the step attachment portions 180L and 180R are in contact with the mount members 81L and 81R through the space formed between the projecting pieces 37.

  A tongue-shaped heat radiation plate portion 181L, 181R hanging downward from the lower portion is integrally formed at the lower portion of each step mounting portion 180L, 180R. The heat radiating plate portions 181L and 181R are in a heat conduction relationship with the step mounting portions 180L and 180R, and are located where no load is applied to the step main body portions 183L and 183R, and protrude downward from the step mounting portions 180L and 180R. It is exposed to the outside of the frame 22 and is air-cooled by running wind.

  The heat generated by the electric motors 82L and 82R of the traveling unit 3 is conducted by conduction to the step attachment portions 180L and 180R via the mount members 81L and 81R, and is transmitted to the atmosphere from the step attachment portions 180L and 180R and the heat radiating plate portions 181L and 181R. Heat is dissipated inside. Thereby, the electric motors 82L and 82R are cooled well, and the electric motors 82L and 82R are prevented from being overheated. Since the step mounting portions 180L and 180R are ring-shaped, the load resistance is high, the heat radiation surface area is large, and the heat radiation performance is good.

  The step attachment portions 180L and 180R can be integrated with the mount members 81L and 81R, and the heat conduction performance of the heat generated in the electric motors 82L and 82R to the step attachment portions 180L and 180R by this integration structure. Can be increased.

  The step main body portions 183L and 183R are rotatably attached to the lower portions of the step attachment portions 180L and 180R by support shafts 182L and 182R. The step main body portions 183L and 183R are flipped up with the tip side turned upward by rotation about the support shafts 182L and 182R, and are positioned horizontally along the lower frame 22 and horizontally in the left-right direction. It is possible to rotate between the use position where it protrudes from the lower frame 22 to the left and right.

  Note that the step body portions 183L and 183R may have a fixed structure that does not need to be flipped up. In this case, the step body portions 183L and 183R and the step attachment portions 180L and 180R may be integrally formed.

  The step load sensor 8 includes a left strain gauge 401L, a right strain gauge 401R, and temperature compensated strain gauges 402L and 402R (see FIG. 13), which are known electrical resistance strain gauges.

  Each of the left strain gauge 401L and the right strain gauge 401R has a large elastic deformation (strain) due to the step load, among the steps 179L and 179R, for example, the step mounting portion 180L, in order to detect the step load with high sensitivity. , 180R. Note that the left strain gauge 401L and the right strain gauge 401R may be attached to the step body portions 183L and 183R.

  The temperature compensated strain gauges 402L and 402R perform temperature compensation of the left strain gauge 401L and the right strain gauge 401R, and step in a temperature environment equivalent to the temperature environment at the arrangement site of the left strain gauge 401L and the right strain gauge 401R. It arrange | positions in the site | part which has little elastic deformation by a load, for example, the back surface of the heat sink part 181L, 181R.

As shown in FIGS. 1 to 4, a lower cover 185 for concealing the lower half of the traveling unit 3 except for the ground contact portion with the road surface is attached to the lower end portion of the lower frame 22. Further, side covers 186L and 186R for concealing the step attachment portions 180L and 180R except for the protrusions 181L and 181R and the steps 183L and 183R are attached to the outer surfaces of the left and right side walls 33 of the lower frame 22. It has been. The side covers 186L, 186R are formed with storage recesses 16L, 16R for storing the stepped-up main bodies 183L, 183R.
<Configuration of electrical unit>

  As shown in FIG. 10, the control unit 5, the upper load sensor 6, and the inclination sensor 7 constituting the electrical unit 11 are attached to and integrated with an electrical mount frame 202 that is a skeleton. In the following description of the electrical unit 11, the front-rear, left-right, and vertical directions are set based on the state in which the electrical unit 11 is attached to the lower frame 22.

  The electrical mount frame 202 is a frame member having a substantially rectangular shape and having a space in the center. As shown in FIG. 11, the electrical mount frame 202 is set to have a length in the left-right direction so that the left and right support bases 53L, 53R of the lower frame 22 can be bridged. In other words, the electrical mount frame 202 is set to a size that allows its peripheral edge to be placed on the left and right support bases 53L and 53R. When mounted on the left and right support bases 53L and 53R, the electrical mount frame 202 includes a through-hole 203 penetrating in a vertical direction at a position corresponding to each of the female screw holes 54 of the left and right support bases 53L and 53R. Yes.

  The upper load sensor 6 includes a three-axis force sensor that can detect a force in the z-axis direction (vertical direction) and a moment around the x-axis (front-rear direction) and the y-axis (left-right direction). The upper load sensor 6 has a body part 205 containing a sensor base, and an input shaft 206 protruding upward from the body part 205. The input shaft 206 is formed in a cylindrical shape, and receives an external force to be detected. A male screw groove is formed on the outer periphery of the input shaft 206 from the proximal end to the distal end. The body portion 201 is placed on the electrical mount frame and fastened with screws.

  A plate-like connecting member base 210 is attached to the outer peripheral portion of the base end portion of the input shaft 206. The connecting member base 210 has a female screw hole in the center, and this female screw hole is fixed to the input shaft 206 by being screwed into a male screw groove of the base end portion 206B. Note that the tip of the input shaft 206 protrudes above the connecting member base 210 in a state where the connecting member base 210 is attached to the input shaft 206.

  A first connector base 211 extending forward is screwed to the front portion of the connecting member base 210. A second connector base 212 extending rearward is screwed to the rear portion of the connecting member base 210.

  A first connector 214 provided at one end of a wiring extending from a power supply board 242 described later is screwed to the first connector base 211. The first connector base 211 is provided with columnar first guide pins 215 that protrude upward.

  A second connector 216 provided at one end of a wiring extending from a control board 241 described later is screwed to the second connector base 212. Further, the second connector base 212 is provided with columnar second guide pins 217 that protrude upward.

  The tilt sensor 7 is a known gyroscope. The inclination sensor 7 is disposed so as to extend from the inside of the electrical mount frame 202 to the lower portion, and is screwed to the electrical mount frame 202. The tilt sensor 7 detects the tilt angle from the vertical direction with reference to the vertical direction (vertical direction). As will be described later, the inclination sensor 7 functions as an operation input detection unit that outputs an inclination angle as an operation input signal to the control circuit 261.

  As shown in FIG. 10, the control unit 5 includes a control board 241, a power board 242, a left motor driver board 243, a right motor driver board 244, an I / O interface board 245, and a blower fan 247. And.

  The control board 241 has a CPU constituting a microcomputer and is provided with a control circuit 261 used for controlling the electric motors 82L, 82R and the like. The control board 241 is attached to the rear of the electrical mount frame 202 via a spacer. The control board 241 extends in the up-down direction so that the board surface faces in the front-rear direction, and extends downward from the rear of the electrical mount frame 202.

  The power supply board 242 is a board provided with a voltage control circuit that converts the power supply voltage supplied from the battery unit 10 into a predetermined voltage. The power supply board 242 is attached below the electrical mount frame 202 so as to extend in the front-rear direction and the left-right direction by a connecting member 251 extending downward from the front end of the electrical mount frame 202. Further, the rear end of the power supply board 242 is connected to the lower end of the control board 241 via a connecting member 252.

  The left motor driver board 243 and the right motor driver board 244 are boards including left or right driver circuits (inverter circuits) 253 and 254 that are used for PWM control of the electric motors 82L and 82R, respectively. The left motor driver board 243 is attached below the power board 242 in parallel with the power board 242 via a spacer. The right motor driver board 244 is attached below the left motor driver board 243 with a spacer in parallel with the left motor driver board 243. With this configuration, an air passage extending in the front-rear direction is formed between the power supply board 242 and the left motor driver board 243 and between the left motor driver board 243 and the right motor driver board 244.

  The I / O interface board 245 is a board provided with an input interface circuit 265 and an output interface circuit 266. The I / O interface board 245 is attached in parallel to the control board 241 behind the control board 241 via a spacer.

  The blower fan 247 is an axial fan. The blower fan 247 is fastened to the lower end of the connecting member 251 and is disposed in front of the left motor driver board 243 and the right motor driver board 244. At this time, it arrange | positions so that the suction inlet of the ventilation fan 247 may face front, and the discharge outlet faces back.

  Next, a structure for fixing the electrical unit 11 to the lower frame 22 will be described. As shown in FIG. 11, a flexible rubber bush 270 is attached to each through-hole 203 of the electrical mount frame 202. The rubber bushing 270 has a cylindrical portion that is open at both ends, and a flange portion that is formed radially outward at one end and the other end of the cylindrical portion. In the state where the rubber bush 270 is mounted in each through hole 203, each flange portion covers the periphery of the upper end and the lower end of the through hole 203. The electrical mount frame 202 to which the rubber bushing 270 is attached is placed on the left and right support bases 53L and 53R of the lower frame 22, the bolts 272 are inserted into the respective rubber bushings 270, and the tips of the bolts 272 are inserted into the support bases 53L and 53R. The through holes 54 are screwed. As described above, the electrical mount frame 202 is supported by the support bases 53L and 53R via the rubber bush 270. With the above fixing structure, vibration from the lower frame 22 is buffered (blocked) by the rubber bushing 270 and is not easily transmitted to the electrical unit 11.

When the electrical unit 11 is attached to the lower frame 22, the electrical unit 11 is located in the constricted portion 2 </ b> A of the lower frame 22, and the blower fan 247, the left motor driver board 243, and the right motor driver board 244 are arranged on the front and rear walls of the lower frame 22. It arrange | positions between the vent holes 39 formed in 34A, 34B. With this configuration, the cooling air introduced from the front vent hole 39 passes through the blower fan 247, passes through the vent path formed between the left motor driver board 243 and the right motor driver board 244, and is rearward. The air vent 39 is discharged. For this reason, it is possible to efficiently cool the left and right motor driver boards 243 and 244 that generate a large amount of heat among the electrical unit 11. Further, since the electrical unit 11 is disposed in the constricted portion 2A of the lower frame 22, the flow path length between the vent holes 39 is short, and the electrical unit 11 can be efficiently cooled.
<Configuration of battery unit>

  As shown in FIGS. 5 and 6, there are two battery units 10 in the front and rear, and each battery unit 10 includes a plurality of batteries 281 and one battery management board 282. The plurality of batteries 281 in each battery unit each have a columnar shape, and are connected to each other on a columnar side surface to form a set.

  The battery management board 282 constitutes a battery management circuit 285. The battery management circuit 285 is connected to the battery 281 and manages the charge / discharge state of the battery 281.

  Each battery unit 10 is inserted into the front inner space 26A and the rear inner space 26B of the upper frame 21 through the lower opening 25 of the upper frame 21, and is inserted into the support bases 51L and 51R of the upper frame 21, respectively. It is supported from below by a battery bracket 291 that is screwed.

  A third connector base 294 extending forward is screwed to the front portion of the battery bracket 291. A fourth connector base 295 extending backward is screwed to the rear portion of the battery bracket 291.

  A third connector 297 provided at one end of the wiring extending from the battery management board 282 is screwed to the third connector base 294. The third connector 297 is formed in a complementary shape so that it can be coupled to the first connector 214. The third connector base 294 is provided with a first guide hole 298 extending in the vertical direction.

A fourth connector 301 provided at one end of the wiring extending from the switch panel 40 is screwed to the fourth connector base 295. The fourth connector 301 is formed in a complementary shape so that it can be coupled to the second connector 216. The fourth connector base 295 is provided with a second guide hole 302 extending in the vertical direction.
<Connection structure of upper structure and lower structure>

  11 and FIG. 11 show a connecting structure of the upper structure 13 composed of the upper frame 21, the seating unit 4, the battery unit 10 and the like and the lower structure 14 composed of the lower frame 22, the traveling unit 3, the electrical unit 11 and the like. This will be described with reference to FIG. In the perspective view of FIG. 11, a part of the configuration is removed for illustration. 11 and 12, the lower opening 25 of the upper frame 21 and the upper opening 31 of the lower frame 22 are arranged to face each other, and the lower structure is formed in the first guide hole 298 of the upper structure 13. The first guide pin 215 of the body 14 is inserted, and the second guide pin 217 of the lower structure 14 is inserted into the second guide hole 302 of the upper structure 13 to combine the upper structure 13 and the lower structure 14. . In this state, the first connector 214 is connected to the third connector 297 and the second connector 216 is connected to the fourth connector 301. As a result, the upper structure 13 and the lower structure 14 are electrically connected, and power supply and control signal transmission / reception can be performed between them.

  The lower surface of the connection recess 29 of the upper frame 21 abuts on the upper surface of the connection member base 210 connected to the input shaft 206 of the upper load sensor 6, and the distal end portion of the input shaft 206 has the connection hole 30 of the connection recess 29. It penetrates from below to above. In this state, the nut 314 is screwed into the distal end portion of the input shaft 206, and the bottom portion of the connection recess 29 is sandwiched between the connecting member base 210 and the nut 314. In this way, the upper frame 21 and the input shaft 206 of the upper load sensor 6 are connected. At this time, the peripheral edge that defines the upper opening 31 of the lower frame 4 is formed to have a slightly smaller diameter than the peripheral edge that defines the lower opening 25 of the upper frame 3, thereby defining the upper opening 31. The peripheral edge portion is loosely fitted inside the peripheral edge portion that defines the lower opening 25 of the upper frame 3.

With the above connection structure, the upper structure 13 is supported by the lower structure 14 via the upper load sensor 6. Therefore, when the occupant sits on the seating unit 4, the occupant's load is input to the input shaft 206 of the upper load sensor 6 through the upper structure 13.
<Inverted pendulum control system configuration>

  As shown in FIG. 13, signals from the upper load sensor 6, the tilt sensor 7, the step load sensor 8, the rotary encoder 9, and the battery management circuit 285 are input to the control circuit 261 via the input interface circuit 265. Entered. The control circuit 261 performs inverted pendulum control, and PWM for driving the left driver circuit 253 and the right driver circuit 254 to maintain the moving body 1 in an inverted state based on various signals that are input. Generate a signal.

  The upper load sensor 6 outputs a signal corresponding to the load input to the input shaft 206 to the control circuit 261. The step load sensor 8 outputs a signal corresponding to the load applied to the step main body portions 183L and 183R to the control circuit 261. The inclination sensor 7 outputs a signal corresponding to its own inclination with respect to a predetermined reference line to the control circuit 261. The left and right rotary encoders 9L and 9R output signals corresponding to the rotational positions of the rotor shafts 96L and 97R to the control circuit 261.

  The control circuit 261 calculates a load input to the input shaft 206 based on a signal from the upper load sensor 6, compares the calculated load with a predetermined threshold value, and the passenger sits on the seating unit 4. It is determined whether or not. Further, the control circuit 261 calculates a load applied to the steps 183L and 183R based on a signal from the step load sensor 8, compares the calculated load with a predetermined threshold value, and the passenger enters the steps 183L and 183R. Determine whether you are on foot.

  The control circuit 261 determines whether or not there is a passenger on the moving body 1 based on the determination result of whether or not the user sits on the seating unit 4 and the determination result of whether or not he / she is on the steps 183L and 183R. Determine the boarding posture of the passenger. In the mobile body 1 according to the present embodiment, as shown in FIG. 14, the occupant stands on the sitting boarding posture (A in the figure) where he / she sits on the seating unit 4 and on the left and right steps 183L and 183R. Then, it is possible to take a standing riding posture (B in the figure) in which the passenger sits with the cushion portion of the seating unit 4 in the retracted position sandwiched between the knee and thigh.

  If it is determined that the user is not seated on the seating unit 4 and it is determined that the foot is not on the steps 183L and 183R, it is determined that there is no passenger in the moving body 1 (non-boarding state). When it is determined that the user is seated on the seating unit 4, it is determined that the occupant is in the seated boarding posture (sitting boarding state). When it is determined that the user is not seated on the seating unit 4 and it is determined that the step 183L or 183R is on the foot, the passenger is riding in the standing riding posture on the moving body 1 (standing standing boarding state). It is determined.

  The control circuit 261 calculates the rotation speeds of the left and right electric motors 82L and 82R based on the signals from the rotary encoders 9L and 9R, and uses it for driving control of the left and right electric motors 82L and 82R.

  Based on the signal from the tilt sensor 7, the control circuit 261 calculates a tilt angle, which is an angle formed by the vertical axis of the lower structure 14 and the vertical axis, by a predetermined calculation process. As shown in FIG. 3, the axis of the lower structure 14 is a line along the major axis of the lower frame 22 (that is, a line extending in the vertical direction). The tilt angle is x-axis in the front-rear direction (positive in the forward direction and negative in the rear direction), y-axis in the left-right direction (positive in the right direction and negative in the left direction), and z-axis (upward in the vertical direction Assuming an xyz coordinate system in which x is positive and the downward direction is negative, it is expressed by an x component that is an inclination angle in the x-axis direction and a y component that is an inclination angle in the y-axis direction. Further, the control circuit 261 calculates the tilt angular velocity by differentiating the tilt angle with time. The tilt angular velocity is represented by an x component that is a tilt angular velocity in the x-axis direction and a y component that is a tilt angular velocity in the y-axis direction.

  The control circuit 261 performs inverted pendulum control based on the tilt angle and the tilt angular velocity. In the inverted pendulum control, the traveling unit 5 is driven to move the moving body 1 so that the entire moving body 1 and the center of gravity including the occupant are positioned almost directly above the grounding point of the traveling unit 3 (main wheel 85). The inclination angle is made to coincide with the reference angle that is the control target value. At that time, the driving speed of the traveling unit 5 (that is, the moving speed of the moving body 1) is set based on the inclination angular velocity, and the changing speed when the inclination angle is matched with the reference angle is set. Since the position of the center of gravity including the entire moving body 1 and the passenger changes depending on the presence / absence of the passenger and the riding posture, the reference angle is previously set for each state of the moving body 1 in the non-boarding state, the seated boarding state, and the standing boarding state. Is set.

  The control circuit 261 sets the target speed vector of the traveling unit 5 based on the inclination angle, the reference angle in each boarding state, and the inclination angular velocity so that the inclination angle matches the reference angle in each boarding state. The target velocity vector is represented by an x component and a y component. The control circuit 261 generates a PWM signal for controlling the left driver circuit 263 and the right driver circuits 264 and 264 based on the target speed vector. The left driver circuit 253 and the right driver circuit 254 supply power to the left and right electric motors 82L and 82R according to the PWM signal, and drive the left and right electric motors 82L and 82R.

  With the above configuration, the moving body 1 is maintained in an inverted state in which the axis coincides with the reference angle by the inverted pendulum control. The traveling operation (operation input) to the moving body 1 is performed by shifting the weight of the passenger. By moving the weight in the direction in which the passenger wants to travel, the axis B tilts in the direction in which he wants to travel. Then, the inclination sensor 7 as the operation input detection means detects the inclination angle, and the control circuit 261 drives the traveling unit 3 so that the inclination angle matches the reference angle in each boarding state. As a result, the moving body 1 moves in the direction that the passenger wants to travel. At this time, the inclination angular velocity changes according to the weight movement speed of the passenger, and the driving speed of the traveling unit 5 changes according to the inclination angular speed. That is, the speed of the moving body 1 is set according to the weight movement speed of the passenger.

  DESCRIPTION OF SYMBOLS 1 ... Inverted pendulum type moving body, 2 ... Frame (base | substrate), 3 ... Traveling unit, 4 ... Seating unit, 5 ... Control unit, 5 ... Inverted pendulum control unit (inverted pendulum control part), 6 ... Upper load sensor, 7 ... Inclination sensor (operation input detection means), 8 ... step load sensor, 10 ... battery unit, 11 ... electrical unit, 13 ... upper structure, 14 ... lower structure, 21 ... upper frame, 22 ... lower frame, 24 ... Saddle storage part 29 ... Connection recess 36 ... Notch part 63L, 68R ... Saddle, 82L, 82R ... Electric motor, 84L, 84R ... Driver, 85 ... Main wheel, 121L, 121R ... Drive disk, 122L, 122R ... Drive roller 161 ... annular body, 164 ... driven roller, 179L, 179R ... step, 180L, 180R ... step mounting portion, 181 , 181R ... Radiating plate, 183L, 183R ... Step body, 261 ... Control circuit, 263 ... Left driver circuit, 264 ... Right driver circuit, 265 ... Input interface circuit, 266 ... Output interface circuit, 281 battery, 285 ... Battery Management circuit (power supply control means), 401L ... Left strain gauge, 401R ... Right strain gauge, 402L, 402R ... Temperature compensated strain gauge

Claims (3)

An inverted pendulum type moving body having a base, a traveling unit provided on the base and traveling the base with respect to a floor, and a step provided on the base and on which a passenger's foot is placed,
The traveling unit includes an annular main wheel, an electric motor disposed inside the base body, and a driving body that transmits rotation of the electric motor to the main wheel.
The step includes a metal step attachment portion, and a step main body portion that is provided in the step step attachment portion and forms an actual footrest portion,
An inverted pendulum type moving body in which the electric motor and the step mounting portion are fixedly attached to the base body by a common metal mounting member.   The inverted pendulum type moving body according to claim 1, further comprising a heat radiating plate that is integral with the step mounting portion and protrudes outward from the step mounting portion and exposed to the outside of the base.   3. A strain gauge for detecting a step load is attached to the step mounting portion or the step main body portion, and a temperature compensation strain gauge for temperature compensation of the strain gauge is attached to the heat radiating plate portion. The inverted pendulum type moving body described.

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