JP2011063218A - Inverted pendulum type moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a frame compact and facilitate attachment/detachment of a travel unit, in an inverted pendulum type moving body. <P>SOLUTION: A lower frame 22 has a tubular shape, and includes a lower opening part 32 opened downward, and a pair of right and left cutout opening parts 36 formed to a pair of right and left side parts 33 so that a lower part thereof is continuous to a peripheral edge of the lower opening part. In a travel unit 3, a pair of right and left mount members 81L, 81R, drive bodies 84L, 84R, and electric motors 82L, 82R are coaxially disposed, and a main wheel 85 caught between the drive bodies is provided. The right and left mount members respectively have flange parts 92L, 92R disposed to right and left outer ends thereof. The travel unit passes through the lower opening part and the right and left cutout opening parts to be inserted into a base, and is attached to the base by fastening the flange parts of the mount members to circumferences of the cutout opening parts. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an inverted pendulum type moving body that travels on a floor surface while maintaining an inverted posture, and more particularly to a structure for attaching a traveling unit to a base body (frame) of an inverted pendulum type moving body.

  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 according to Patent Document 1, the driving body and the electric motor are not arranged coaxially, and are independently attached to the frame (base). Therefore, it takes time to attach the traveling unit to the frame. As a method for saving such trouble, it is conceivable that the driving body and the electric motor are configured as one unit of traveling unit, and the traveling unit as one unit is attached to the frame. In this case, it is conceivable to arrange the driving body and the electric motor coaxially from the viewpoint of compactness and power transmission. However, if the driving body and the electric motor are arranged coaxially, the traveling unit is wide in the axial direction of the electric motor, and the frame that holds the traveling unit is also wide in the axial direction of the electric motor.

  The present invention has been made in view of the above background, and supports the traveling unit in which the driving body and the electric motor are coaxially arranged in a compact shape, and has an inverted frame having a frame in which the traveling unit can be easily attached and detached. An object is to provide a pendulum type moving body.

  In order to solve the above-mentioned problem, the first invention is an inverted pendulum type moving body (1), which is a cylindrical base body (2, 22) having a lower opening (32) that opens downward. ) And a traveling unit (3) provided inside the base so that the lower part protrudes to the outside through the lower opening, and the traveling units have a cylindrical shape and are coaxial with each other. A pair of left and right mount members (81L, 81R) each provided with a flange portion (92L, 92R) at opposite ends, respectively, and one on each outer periphery of the mount member. A pair of left and right drive bodies (84L, 84R) supported and rotatable coaxially with the mount member, and at least a portion thereof is disposed inside the mount member, and the rotation axis is coaxial with the mount member. Said A pair of left and right electric motors (82L, 82R) that are attached to the front member and rotate the corresponding driving body respectively, and an annular main wheel that is sandwiched between the pair of left and right driving bodies and rotated by the driving body (85), and the base body is coaxial with the pair of left and right side portions (33) facing each other and the side portions, and communicates the inside and the outside of the base body, and the lower portion. Has a pair of left and right cutout openings (36) continuous to the periphery of the lower opening, and the traveling unit is inserted into the base body through the lower opening and the left and right cutout openings of the base body. The flange portion of the mount member is attached to the base by being fastened around the notch opening.

  According to this configuration, since the notch opening is formed in the portion of the side of the base that faces the electric motor, even if the electric motor becomes wider in the axis (rotating axis) direction, the electric motor It is located in the notch opening and it is not necessary to make the base wider in the axial direction of the electric motor. Even when the electric motor passes through the notch opening and the electric motor protrudes outside the base, the lower part of the notch opening continues to the periphery of the lower opening, so that the electric motor interferes with the base. Without this, the traveling unit can be integrally inserted into the base through the lower opening, or can be extracted from the base through the lower opening.

  A second invention is characterized in that, in the first invention, the base body has lower rigidity than the traveling unit in the axial direction of the mount member.

  According to this configuration, even when the width of the traveling unit and the width between the inner surfaces of the side portions of the base do not match, the traveling unit and the base can be fastened by bending the base. In addition, when the width between the inner surfaces of the side portions of the base is narrower than the width of the traveling unit, the base can apply a compressive load to the traveling unit.

  According to a third invention, in the first or second invention, a rotary encoder (9L, 9R) is provided on a rotating shaft of the electric motor.

  According to this configuration, the rotary encoder can be attached in the axial direction of the electric motor without widening the base in the axial direction of the electric motor.

  According to the above configuration, in the inverted pendulum type moving body, the base body can be formed compactly, and the traveling unit can be easily attached to and detached from the base body.

The perspective view which shows the boarding possible state (state which expand | deployed the saddle and the step) of the inverted pendulum type mobile body which concerns on 1st Embodiment The perspective view which shows the accommodation state (state which stored the saddle and the step) of the inverted pendulum type mobile body which concerns on 1st Embodiment. The rear view which shows the boarding possible state of the inverted pendulum type mobile body which concerns on 1st Embodiment Exploded perspective view of an inverted pendulum type moving body according to the first embodiment Side view showing partially inverted pendulum type moving body Exploded perspective view of the upper structure according to the first embodiment VII-VII sectional view of FIG. VIII-VIII sectional view of FIG. 8 is an enlarged cross section of the main part of FIG. Perspective view showing the traveling unit The perspective view which shows the electrical equipment unit which concerns on 1st Embodiment. The perspective view which fractures | ruptures and shows the connection structure of the upper structure which concerns on 1st Embodiment, and a lower structure partially Sectional drawing which shows the connection structure of the upper structure and lower structure which concern on 1st Embodiment 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 (base body) 2 as a skeletal structure extending in a generally vertical direction, and a frame 2, a traveling unit 3 provided in the lower part of the frame 2, 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. And a battery unit 10 for supplying power to the main components. The electrical unit 11 includes an inverted pendulum control unit (control means; hereinafter simply referred to as a control unit) 5, an upper load sensor 6, and a tilt sensor 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 inverted posture. In addition, the moving body 1 includes a step load sensor 8 and rotary encoders 9L and 9R at appropriate positions separately from the electrical unit 11.

<Frame structure>
As shown in FIG. 1, the frame 2 has a hollow outer shell structure and has a flat shape in which the width in the front-rear direction is larger than the width in the left-right direction. The frame 2 has a constricted portion 2A over the entire circumference in the center in the vertical direction. In the constricted portion 2A, the front-rear direction is recessed larger than the left-right direction. 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 at the constricted portion 2A, and is composed of a separate upper frame 21 and lower frame 22 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 annular portion is formed in a hollow shape. 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 26 </ b> C 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 surface that faces downward, extends in the front-rear direction, and has a female screw hole that opens downward.

  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 formed with substantially semicircular cutout openings 36 </ b> L and 36 </ b> R that are continuous with the lower opening 32. The left and right cutout openings 36L and 36R communicate with the inside and the outside of the lower frame 22, respectively, and are arranged coaxially with each other with a horizontal axis. Projection pieces 37L and 37R extending downward to extend the peripheral edges of the notch openings 36L and 36R are formed one by one on the front and rear sides at the boundary between the notch openings 36L and 36R and the lower opening 32. Yes. The peripheral edge portions of the notch openings 36L and 36R and the pair of projecting pieces 37L and 37R are arranged in a horseshoe shape (horse-shoe shape) in which face plates are continuously arranged on the same plane facing the left-right direction and opened downward. Mount support portions 38L and 38R to be presented are configured. The inner peripheral portions 44L, 44R of the left and right mount support portions 38L, 38R formed in this way have a circular shape with a lower portion cut out, and are coaxial with each other. Seven through holes 45L and 45R are formed in the mount support portions 38L and 38R at approximately equal intervals from one end of the horseshoe shape to the other end.

  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. 12) penetrating in the vertical direction are formed.

  As shown in FIG. 5, a seating unit 4, a battery unit 10, and the like are mounted on the upper frame 21 to form an upper structure 13, and a traveling unit 3, an electrical unit 11, various types are mounted on the lower frame 22. Sensors 8, 9 and the like (FIGS. 4 and 8) are mounted to form the lower structure 14. 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>
As shown in FIGS. 8 to 10, 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. Body 84L, 84R, main wheel 85 rotated by left and right drive bodies 84L, 84R, and rotary encoders 9L, 9R provided coaxially with left and right electric motors 82L, 82R. 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. The outer diameter of the stator housing 95L is formed to be smaller than the inner diameter of the mount member 81L, and seven flange portions 97L project outwardly in the radial direction on the outer peripheral portion thereof. 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. As shown in FIGS. 8 and 9, in the present embodiment, the electric motor 82L is set to a size that does not protrude from the opening end of the mount member 81L, but the electric motor 82L is not mounted on the mount member 81L. You may protrude from the opening end of the.

  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. As shown in FIGS. 8 to 10, the rotary encoder 9L protrudes outward from the opening end of the mount member 81L in the axial direction of the mount member 81L.

  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 coaxially 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 135L 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 drive disk 121L is fixed at a relative position with respect to the mount member 81L.

  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 transmitted to the drive disk 121L after being decelerated via the wave gear device 83L.

  The left and right drive disks 121L and 121R are provided with small-diameter annular portions 125L and 125R coaxially with a cross roller bearing 140 interposed therebetween. 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 where the left and right drive disks 121L and 121R are coupled (that is, a state where 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. A disc-shaped 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 an imaginary line connecting the 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 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, step bases 180 </ b> L and 180 </ b> R are attached outside the left and right cutout openings 36 </ b> L and 36 </ b> R of the lower frame 22. The step bases 180L and 180R are formed by annular plates 182L and 182R, cylindrical portions 184L and 184R projecting from inner surfaces (surfaces facing the lower frame 22) of the annular plates 182L and 182R, and outer sides of the annular plates 182L and 182R. Projecting portions 181L and 181R in the form of tongue pieces projecting in the lower part of the side surface and projecting in the left-right direction and hanging downward. Steps 183L and 183R are rotatably supported by the protrusions 181L and 181R. Each of the steps 183L and 183R is supported by the protrusions 181L and 181R with a pivot shaft extending substantially in the front-rear direction at the base end, and the front end thereof is positioned substantially above the base end, and the lower frame It is possible to rotate between a storage position that is substantially along the position 22 and a use position in which the distal end portion is located substantially in the left-right direction of the base end portion and protrudes from the lower frame 22.

  The cylindrical portions 184L and 184R of the step bases 180L and 180R have shapes that can be fitted to the mount support portions 38L and 38R. In other words, the outer peripheral surfaces of the cylindrical portions 184L and 184R and the inner peripheral portions 44L and 44R of the mount support portions 38L and 38R are formed to coincide with each other. The step bases 180L and 180R are positioned and supported with respect to the lower frame 22 by fitting the cylindrical portions 184L and 184R to the mount support portions 38L and 38R. In a state where the cylindrical portions 184L and 184R are fitted to the mount support portions 38L and 38R, the inner side surfaces of the annular plates 182L and 182R are in contact with the outer surfaces of the mount support portions 38L and 38R. Through holes 187L and 187R are formed in the annular plates 182L and 182R at positions corresponding to the through holes 45L and 45R of the mount support portions 38L and 38R.

  As shown in FIG. 5, the traveling unit 3 has a lower axis so that the rotation axis A is parallel to the left-right direction and coincides with the central axes of the inner peripheral portions 44L, 44R of the mount support portions 38L, 38R. The upper half of the housing space 35 of the frame 22 is disposed. In this state, the flange portions 92L and 92R of the left and right mount members 81L and 81R of the traveling unit 3 are in contact with the inner surfaces of the mount support portions 38L and 38R of the lower frame 22. Bolt holes 94L and 94R are formed in the flange portions 92L and 92R at positions corresponding to the through holes 45L and 45R of the mount support portions 38L and 38R. The traveling unit 3 passes through the through holes 187L and 187R of the step bases 180L and 180R and the through holes 45L and 45R of the mount support portions 38L and 38R, and is screwed into the bolt holes 94L and 94R of the mount members 81L and 81R. The bolts 99L and 99R are fastened to the step bases 180L and 180R with the lower frame 22 sandwiched therebetween.

  The distance between the left and right mount support portions 38L and 38R may be slightly smaller than the distance between the left and right outer ends of the left and right mount members 81L and 81R. The lower frame 22 made of carbon fiber reinforced plastic has a lower rigidity than the metal mount members 81L and 81R and is formed to be slightly elastically deformable, so that the traveling unit 3 can be received inside by bending. it can. In this case, the left and right mount members 81L and 81R are pressed in directions close to each other by the left and right mount support portions 38L and 38R. Thereby, a pressure is applied to each cross roller bearing 135L, 135R, 140.

  As shown in FIG. 4, when the traveling unit 3 is attached to the lower frame 22, the traveling unit 3 is inserted into the lower opening 32 from below the lower frame 22, so that the traveling unit 3 is attached to the lower frame 22. It is arranged at a predetermined position. At this time, the rotary encoders 9L and 9R protrude from the mount members 81L and 81R in the direction of the rotation axis A. However, since the lower portions of the mount support portions 38L and 38R are open, they are not restricted by the lower frame 22. It is possible to reach a predetermined position in the notch openings 36L and 36R. After the traveling unit 3 is disposed at a predetermined position in the lower frame 22, the left and right step bases 180L and 180R are fitted to the mount support portions 38L and 38R, and the traveling unit 3, the lower frame 22, the left and right step bases 180L and 180R are fitted. Are fastened by bolts 99L and 99R.

  When removing the traveling unit 3 from the lower frame 22, the bolts 99 </ b> L and 99 </ b> R are removed, and the traveling unit 3 can be pulled out below the lower frame 22 with the left and right step bases 180 </ b> L and 180 </ b> R removed from the lower frame 22. That's fine. At this time, since the rotary encoders 9L and 9R pass through the openings below the mount support portions 38L and 38R, the traveling unit 3 is extracted without being restricted by the lower frame 22.

  As shown in FIG. 4, step load sensors 8 are attached to the outer surfaces of the left and right step bases 180L and 180R. The step load sensor 8 is a known strain gauge, and detects strains of the step bases 180L and 180R when a load is applied to the steps 183L and 183R.

  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 bases 180L and 180R are attached to the outer surfaces of the left and right side walls 33 of the lower frame 22 except for the protrusions 181L and 181R and the steps 183L and 183R. ing.

<Configuration of electrical unit>
As shown in FIG. 11, 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. 12, 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 through holes 203 that penetrate vertically in positions corresponding to 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 shown in FIG. 11, 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 (not shown) 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. 12, 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 tip ends of the bolts 272 are supported by the support bases 53L and 53R. These female screw 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. Each battery management board 282 is formed with a battery management circuit 285 including a CPU constituting a microcomputer and a memory, and is connected to each battery 281. The battery management circuit 285 performs charge / discharge of each battery 281 and selection of the battery 281 to be used.

  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>
12 and FIG. 12 show a connecting structure of the upper structure 13 constituted by the upper frame 21, the seating unit 4, the battery unit 10 and the like and the lower structure 14 constituted by the lower frame 22, the traveling unit 3, the electrical unit 11 and the like. Explanation will be made with reference to FIG. In the perspective view of FIG. 12, a part of the configuration is removed for illustration. As shown in FIGS. 12 and 13, 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. Thereby, 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 22 is formed to have a slightly smaller diameter than the peripheral edge that defines the lower opening 25 of the upper frame 21, 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 21.

  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. 14, the control circuit 261 is supplied from the upper load sensor 6, the tilt sensor 7, the step load sensor 8, the rotary encoders 9 </ b> L and 9 </ b> R, and the battery management circuit 285 via the input interface circuit 265. A signal is input. 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 steps 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. 15, 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. The seating unit 4 in the retracted position can be in a standing riding posture in which the cushion portion of the seating unit 4 is put between the knee portion and the thigh portion. 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 θ that is an angle formed by the axis of the lower structure 14 and the vertical axis C 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). As for the inclination angle θ, the front-rear direction is the x-axis (front direction is positive and the rear direction is negative), the left-right direction is y-axis (right direction is positive, left direction is negative), and the vertical direction is z-axis (up Assuming an xyz coordinate system in which the direction is positive and the downward direction is negative, it is expressed by an x component θx that is an inclination angle in the x-axis direction and a y component θy that is an inclination angle in the y-axis direction. The

  The control circuit 261 performs inverted pendulum control based on the tilt angle θ. In the inverted pendulum control, the traveling unit 3 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 θ is made to coincide with the reference angle θt that is the control target value. 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 θt is set for each of the non-boarding state, the seated boarding state, and the standing boarding state of the moving body 1. It is set in advance.

  The control circuit 261 generates a PWM signal for controlling the left driver circuit 253 and the right driver circuit 254 so that the inclination angle θ matches the reference angle θt in each boarding state. 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 of the lower structure 14 coincides with the reference angle θt by the inverted pendulum control. The traveling operation of the moving body 1 is performed by shifting the weight of the passenger. By moving the weight in the direction in which the occupant wants to travel, the axis of the lower structure 14 tilts in the direction in which he wants to travel. Then, the control circuit 261 drives the traveling unit 3 so as to make the inclination angle θ coincide with the reference angle θt in each boarding state, and as a result, the moving body 1 moves in the direction in which the passenger wants to travel.

<Effects of Embodiment>
As described above, the left and right side walls 33 of the lower frame 22 are provided with the cutout openings 36L and 36R, and the rotary encoders 9L and 9R of the traveling unit 3 are disposed in the cutout openings 36L and 36R. The width between the side walls 33 can be made smaller than the width of the traveling unit 3 in the left-right direction, and the lower frame 22 can be made compact. Usually, since the left and right electric motors 82L, 82R, the rotary encoders 9L, 9R, and the like are arranged on the rotation axis A of the traveling unit 3, the width in the left-right direction is the largest in the traveling unit 3. By providing the cutout openings 36L and 36R so as to avoid this portion, it is not necessary to match the lower frame 22 to the width in the vicinity of the rotation axis A of the traveling unit 3, and the lower frame 22 can be made compact.

  Further, since the mount support portions 38L and 38R for fixing the traveling unit 3 to the lower frame 22 are formed in a horseshoe shape opened downward, the rotary encoder is used when the traveling unit 3 is attached to and detached from the lower frame 22. 9L and 9R can pass through openings below the mount support portions 38L and 38R to reach predetermined positions.

  Although the description of the specific embodiment is finished as described above, the present invention is not limited to the above embodiment and can be widely modified. For example, the left and right electric motors 82L and 82R may protrude from the open ends of the mount members 81L and 81R. Moreover, the shape of the mount support portions 38L and 8R is not limited to a horseshoe shape, and may be a U shape, a C shape, or a U shape with an opening on the lower side. Further, the projecting pieces 37L and 37R may be omitted.

  In this embodiment, the left and right drive disks 121L and 121R are connected to each other via the cross roller bearing 140. However, when the left and right drive disks 121L and 121R are arranged independently of each other, the left and right drive supports The left and right mount members 81L and 81R may be biased in the direction approaching each other by the portions 38L and 38R so that the left and right drive disks 121L and 121R are close to each other. In this case, the left and right drive bodies 84L and 84R and the main wheel 85 are in close contact with each other, and a large frictional force is generated between the left and right drive bodies 84L and 84R and the main wheel 85.

  DESCRIPTION OF SYMBOLS 1 ... Inverted pendulum type moving body, 2 ... Frame, 3 ... Traveling unit, 4 ... Seating unit, 5 ... Inverted pendulum control unit, 7 ... Inclination sensor, 9L ... Rotary encoder, 10 ... Battery unit, 11 ... Electrical equipment unit, 21 ... Upper frame, 22 ... Lower frame, 31 ... Upper opening, 32 ... Lower opening, 33 ... Side wall, 36L, 36R ... Notch opening, 37L, 37R ... Projection piece, 38L, 38R ... Mount support, 81L, 81R ... Mount member, 82L, 82R ... Electric motor, 84L, 84R ... Driver, 85 ... Main wheel, 92L, 92R ... Flange part, 180L, 180R ... Step base, 182L, 182R ... Ring plate, 184L, 184R ... Cylinder Part

Claims (3)

An inverted pendulum type moving body,
A cylindrical base body formed with a lower opening that opens downward;
A traveling unit provided inside the base so that the lower part protrudes outside through the lower opening,
The traveling unit is
A pair of left and right mounting members that are cylindrical and are arranged coaxially with each other and provided with flange portions at opposite ends thereof,
A pair of left and right drive bodies that are rotatably supported one by one on the outer periphery of the mount member and are rotatable coaxially with the mount member;
A pair of left and right electric motors that are disposed at least partially inside the mount member and attached to the mount member such that a rotation axis is coaxial with the mount member, and respectively rotate the corresponding driving body;
An annular main wheel sandwiched between a pair of left and right drive bodies and rotated by the drive body;
The substrate is
A pair of left and right sides facing each other;
Each of the side portions has a pair of left and right cutout openings that are coaxial with each other, communicate with the inside and outside of the base body, and have a lower portion continuous to the periphery of the lower opening,
The traveling unit is inserted into the base body through the lower opening and the left and right cutout openings of the base, and the flange portion of the mount member is fastened around the cutout opening, thereby An inverted pendulum type moving body characterized by being attached to a substrate.   The inverted pendulum type moving body according to claim 1, wherein the base body has lower rigidity than the traveling unit in the axial direction of the mount member.   The inverted pendulum type moving body according to claim 1 or 2, wherein a rotary encoder is provided on a rotating shaft of the electric motor.

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