JP2017052334A - Two-wheeled vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably travel on even a ramp where an inclination angle is large by a two-wheeled vehicle.SOLUTION: A seat 10 of a two-wheeled vehicle slides to a frame 2 comprising an axle 4, and is movable with a storage part 15 for storing a battery and the like and a rider in a cross direction and the frame 2 supports a wheel drive motor 25 for driving wheels 20. By moving the seat 10 in the cross direction by a signal of a gyro sensor, a position of whole barycenter K is changed to the axle 4 for stabilizing a posture of the frame 2. With respect to an upward ramp, the seat 10 is moved to a rear end of a movement range, for positioning the whole barycenter K on a rear side of a grounding point P of the wheels 20, for traveling upward in a retreat posture. In the two-wheeled vehicle, legs of a rider extended to a front direction do not contact a road surface even on a ramp comprising a maximum inclination angle in which the two-wheeled vehicle can travel, and upward travel can be achieved in a stable posture.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a two-wheeled vehicle having wheels in parallel on the left and right sides of a vehicle body.

An example of a two-wheeled vehicle that autonomously travels with two wheels on the left and right sides of the vehicle body is disclosed in Japanese Unexamined Patent Application Publication No. 2009-126295.
In this two-wheeled vehicle, the center of gravity of the vehicle is positioned below the center of the wheel, and a seat that can be moved in the front-rear direction by a seat actuator is installed on the vehicle body.
A vehicle height sensor is provided at each of the lower front end and lower rear end of the vehicle body to detect the inclination of the vehicle body with respect to the road surface. Then, the seat actuator is controlled based on the detection value of the vehicle height sensor to change the seat position.
As a result, the position of the center of gravity of the vehicle is controlled to control the posture of the vehicle body.
That is, when the vehicle body leans backward, the seat is moved forward to move the center of gravity position of the vehicle to the front of the vehicle body, and when the vehicle body leans forward, the seat is moved backward to set the vehicle's center of gravity position to the rear of the vehicle body. It is aimed at stabilizing the body posture and preventing the ride comfort from deteriorating.

JP 2009-126295 A

The two-wheeled vehicle disclosed in Japanese Patent Application Laid-Open No. 2009-126295 detects the vehicle height from the road surface at the front and rear ends of the vehicle body, and is controlled so that the detected value is maintained within a predetermined range. While traveling on the road, a certain effect can be expected, and the vehicle body posture is maintained substantially parallel to the road surface.
By the way, unlike a four-wheeled vehicle that has axles at the front and rear, a two-wheeled vehicle is a driving scene that has been expanded to climb up and down the stairs, taking advantage of the uniqueness that the bottom surface of the vehicle body between the front and rear axles may not bottom out Is assumed.

However, in the above conventional two-wheeled vehicle, the detection value of the vehicle height sensor changes greatly for each step of the staircase, so that it is impossible to control the movement of the seat, and it is impossible to secure a safe vehicle body posture at the staircase portion.
Also, because the vehicle body posture is controlled almost parallel to the road surface, even if it is not a staircase, if the slope of the hill increases, the occupant's posture also tilts with the seat, which may cause anxiety and fear in extreme cases become.
For this reason, it can be said that the two-wheeled vehicle of JP2009-126295A cannot be immediately put into practical use.

  Therefore, in view of the above-described problems, an object of the present invention is to provide a two-wheeled vehicle that can travel on an inclined road without anxiety.

Therefore, the two-wheeled vehicle of the present invention is
A wheel drive motor that is fixed to the vehicle body and that drives each wheel;
A posture holding means for stabilizing the posture of the vehicle body by changing the position of the center of gravity with respect to the axle supporting the wheels by moving the seat on which the occupant is seated in the front-rear direction;
The range of movement of the seat is set so that the center of gravity can be moved from the ground and the ground contact point of the wheel in a backward posture with respect to a predetermined ascending slope, and the slope can be traversed with the passenger facing back. It was supposed to be.

  According to the present invention, the occupant climbs the hill with his back to the slope, so that even a large-angle slope can be traversed in a stable posture without worrying about interference between the road surface and feet.

It is a side view of the two-wheeled vehicle concerning embodiment. It is a rear view of a two-wheeled vehicle. It is a see-through | perspective side view which removes and shows a wheel. It is a figure which shows the movement range and gravity center position of a sheet | seat. It is a figure which shows the state at the time of stepping over a staircase part. It is a figure which shows the relationship between a staircase and a wheel.

Embodiments of the present invention will be described below.
FIG. 1 is a side view of a two-wheeled vehicle according to the embodiment, and FIG. 2 is a rear view showing a connection relationship of each element of the two-wheeled vehicle.
The two-wheeled vehicle 1 is based on a frame 2 having a forward direction as a forward direction and a main part of a vertical member 2a that is separated from the left and right. The front end of the vertical member 2a is connected by a U-shaped cross member 2b opened upward as viewed from the front, and the rear part is similarly connected by a U-shaped cross member 2c to maintain the distance between the vertical members 2a.
Note that the side wall of the rear cross member 2c also serves as a drive motor support 8 described later.
In the frame 2, an axle support portion 3 including an axle 4 is extended upward from substantially the center in the front-rear direction of each longitudinal member. The axle 4 extends on the straight line outward in the left-right direction and supports the wheel 20 rotatably.
Hereinafter, unless otherwise specified, the frame 2 refers to the longitudinal member 2a.

The frame 2 (vertical member) is provided with a guide rail 6 extending in the front-rear direction on the upper surface thereof, and the seat 10 is movable back and forth by sliding the slider 11 provided on the lower surface thereof on the guide rail 6.
The frame 2 also includes a chain 7 extending in the front-rear direction on the lower surface, and a seat motor 13 including a sprocket 14 meshing with the chain 7 is fixed to a motor bracket 12 extending from the lower surface of the seat 10. Thus, when the sheet motor 13 is driven, the sheet 10 moves.
On the back of the seat 10, there is provided a storage portion 15 that houses a battery 16 and an inverter 17 as a power supply portion of a two-wheeled vehicle, a controller 18 that controls in-vehicle devices, and the like, and moves together with the seat 10. Yes.

The frame 2 further includes a drive motor support portion 8 extending downward, and supports a wheel drive motor 25 installed for each wheel 20.
The wheel 20 is provided with a chain 23 on the inner surface of the rim 21, and the wheel drive motor 25 is located inside the outer diameter (tire diameter) of the wheel 20 and has a sprocket 26 that meshes with the chain 23 at a low position close to the road surface. Prepare.
The seat 10 is provided with an operation unit (not shown) in the form of an operation knob or a steering lever, and the controller 18 controls the wheel drive motor 25 in accordance with the operation of the occupant so as to perform driving modes such as start acceleration, deceleration, and reverse. In addition, the direction is changed by independent control of the left and right wheels 20.
The seat 10 can be provided with a brake pedal at the foot of the occupant, and the controller 18 can include an interlocking circuit that links mechanical braking by the brake pedal and control of the wheel drive motor 25.

A signal from a gyro sensor (not shown) installed in the frame 2 is input to the controller 18 as a control input.
The controller 18 drives the seat motor 13 in accordance with the traveling state of the two-wheeled vehicle 1 based on the signal from the gyro sensor and moves the seat 10 to change the position of the center of gravity with respect to the axle 4.

FIG. 3 is a see-through side view with the wheel removed. The outline of the wheel 20 is indicated by a virtual line.
The center of gravity of the two-wheeled vehicle 1 is divided into a fixed center of gravity Ks and a moving center of gravity Km.
The fixed side member shown by the solid line in FIG. 3A, that is, the frame 2 including the guide rail 6 and the chain 7 and the wheel drive motor 25 coupled to the frame 2 form a fixed center of gravity Ks, and FIG. In addition to the moving member indicated by the solid line, that is, the seat 10 and the seat motor 13 attached to the seat 10 and the storage portion 15, the occupant M seated on the seat 10 can integrally move in the front-rear direction with respect to the axle 4. A moving center of gravity Km is formed.
Since the wheel drive motor 25 is a particularly large weight element, the fixed center of gravity Ks is located in the vicinity of the wheel drive motor 25, particularly its axial position, when viewed from the side.
The center of gravity (hereinafter referred to as the overall center of gravity) K of the entire two-wheeled vehicle excluding the wheels 20 is a combination of the fixed center of gravity Ks and the moving center of gravity Km.
Since the heavy wheel drive motor 25 is at a low position close to the road surface, the position of the synthesized center of gravity K is lower than that of the axle 4 as shown in FIG.

The controller 18 changes the position of the seat 10 and moves the position of the entire center of gravity K in accordance with the running state, in particular, the angular velocity signal from the gyro sensor indicating a change in posture.
That is, the seat 10 is positioned so that the entire center of gravity K is located on a vertical line connecting the axle 4 and the ground point P during a stop state on a flat road and traveling at a constant speed.
By moving the seat 10 forward during acceleration, the entire center of gravity K is positioned in front of the axle 4 to prevent the front from rising due to the reaction force of the driving torque, and when decelerating and reversing, the seat 10 is moved rearward to reverse the whole. The center of gravity K is positioned rearward of the axle 4 to suppress a forward drop to prevent posture fluctuation and to keep the frame 2 in a horizontal state. Here, the posture of the two-wheeled vehicle 1 is represented by the posture of the frame 2.

FIG. 4 shows the range of movement of the seat 10 during sudden start (acceleration side) to sudden stop (deceleration side), and the position of the overall center of gravity K of the two-wheeled vehicle 1 associated therewith.
When the seat 10 is moved to the foremost end during a sudden start, the overall center of gravity K moves to a position K1 ahead of the axle 4, and when the seat 10 is moved to the rearmost end during a sudden stop, the overall center of gravity K becomes the axle. Move to the position of K2 behind 4.
In addition, in order to obtain a predetermined center of gravity position within the set movement range L of the sheet 10, a weight (weight) can be stored in the storage unit 15 as necessary.

The two-wheeled vehicle 1 of the present embodiment climbs in a forward direction on a gentle slope where the foot is not close to the road surface, but on a slope with a predetermined angle or more, such as a staircase, receding from the road surface. That is, the occupant M on the seat 10 goes up and down with his back turned.
In a state where the two-wheeled vehicle 1 is in a horizontal posture and the wheels 20 are in contact with the corners of the stairs, the position of the entire center of gravity K acts in a direction to roll down ahead of the ground point P of the wheels 20. For this reason, the slope of the maximum angle that can be climbed is set so that the overall center of gravity K is behind the contact point P with the stairs of the wheel 20 in the vicinity of the rearmost end of the moving range L of the seat 20, and FIG. As shown, the seat 10 is moved to the vicinity of the rearmost end of the movement range L (see FIG. 4) during climbing.
Note that the maximum angle at which the slope can be climbed is set in advance as a specification of the two-wheeled vehicle 1 so that the maximum climbable angle can be climbed without slipping depending on the material of the tire 22 or the tread pattern of the wheel 20.

In addition, the storage portion 15 at the back of the seat 10 is set to have a road surface (step) and a predetermined gap d (see FIG. 5) at the rearmost end position of the movement range L of the seat 10 so as not to contact the road surface. ing.
Since the wheel drive motor 25 described above is large as a weight element that determines the overall center of gravity K, as shown in FIG. 5, the position in the front-rear direction is the ground contact point P of the wheel 20 and the axle 4 with respect to the ramp of the maximum angle that can be climbed. Is set within the range of the horizontal distance x.
In other words, the axis C of the wheel drive motor 25 is located between the vertical line V of the axle 20 and the installation point P of the ramp of the wheel 10 in the front-rear direction (horizontal direction) of the two-wheeled vehicle 1. It is set to.
The same applies to climbing up and down the slope even when the ground contact point P of the wheel 10 is a smooth road surface, not the staircase.

  When climbing an inclined road in the forward direction, it is desirable to move the entire center of gravity K forward from the ground contact point P of the wheel 20 (road surface direction) so as not to bend back and back. Since the legs of M extend forward, the seat 10 and the legs may not hit the road surface, and the movement range L of the seat 10 is limited. Since it can move greatly and can move forward regardless of the legs, the moving range of the entire center of gravity K can be easily secured as much as necessary.

In consideration of use in stairs such as indoors and public facilities, refer to the Building Standards Act and barrier-free standards, etc., and the maximum angle that can be climbed from 43.6 ° to 56.8 ° (maximum climbing angle) It is desirable to set as
In the angle range of the maximum climbing angle for determining whether climbing is possible, assuming that the radius of the wheel 20 is r, the step of the staircase is H, and the inclination angle is θ, as shown in FIG.
H = r−r cos θ
The relationship is obtained. Thus, r = H / (1-cos θ).
For example, if the maximum inclination angle is θ = 45 ° and H = 185 mm, r = 630 mm can be obtained from the above equation, and the wheel 20 having a diameter of 1260 mm may be provided.

In the present embodiment, the frame 2 corresponds to the vehicle body in the invention.
Further, the position of the entire center of gravity K with respect to the axle 4 is changed to stabilize the posture of the frame 2 by moving the seat 10 on which the occupant M is seated in the front-rear direction under the control of the controller 18 based on the signal from the gyro sensor. The structure to be formed forms the posture holding means.

The embodiment is configured as described above, and is a two-wheeled vehicle having wheels parallel to the left and right on one axis in the horizontal direction of the frame 2, and is a wheel drive motor 25 that is fixed to the frame 2 and drives the wheels 20. The seat 10 on which the occupant M is seated is moved in the front-rear direction under the control of the controller 18 to change the position of the overall center of gravity K with respect to the axle 4 to stabilize the posture of the frame 2, while The range of movement is set so that the entire center of gravity K can be moved from the ramp and the ground contact point P of the wheel 20 in a backward posture with respect to the climbing ramp, and the ramp can be traversed with the occupant M facing back. Therefore, there is no fear that the seat 10 or the foot extended forward of the occupant M will come into contact with the road surface even on an inclined road with the maximum possible climb angle (maximum climb angle) and can be traversed in a stable posture. .
(Effects corresponding to claims 1 and 3)

Further, when the ramp is a staircase, the diameter of the wheel 20 is set based on the step H of the staircase, so that the wheel 20 can be reliably traversed without slipping. (Effects corresponding to claim 2)
The axis C of the heavy wheel drive motor 25 is positioned on the vertical line V of the axle 4 and the ground contact point P between the ramp of the wheel 20 in the front-rear direction, and the fixed center of gravity Ks is placed on the axle 4. Since they are close to each other, it is easy to secure a necessary moving range of the entire center of gravity K without moving the sheet 10 forming the moving center of gravity Ks greatly. (Effects corresponding to claim 4)

  On the back of the seat 10, there is provided a storage portion 15 that houses a battery 16 and an inverter 17 as a power source for a two-wheeled vehicle, and a control-related device such as a controller 18 that controls an in-vehicle device. In addition to the seat motor 13 and the storage portion 15 attached to the seat 10, the occupant M seated on the seat 10 integrally forms a moving center of gravity Km that can move in the front-rear direction with respect to the axle 4. The position of the vehicle body can be controlled by appropriately controlling the position. (Effects corresponding to claim 5)

In the embodiment, the posture change of the two-wheeled vehicle 1 is detected by the gyro sensor and the seat is moved. However, an acceleration sensor or the like may be used to detect the posture change.
In addition, for driving the wheel 20, the sprocket 26 of the wheel drive motor 25 is meshed with the chain 23 installed on the rim 21, but instead of the chain, a ring gear is installed on the rim and a pin gear that meshes with the ring gear is used. The wheel drive motor 25 may be provided.

  The axles 4 that support the left and right wheels 20 are assumed to be positioned on a straight line, but a configuration that varies within a predetermined amount range limited from a specified straight line by independent suspension is also included in “on one axis” in the present invention. Shall.

DESCRIPTION OF SYMBOLS 1 Two-wheeled motor vehicle 2 Frame 3 Axle support part 4 Axle 6 Guide rail 7 Chain 8 Drive motor support part 10 Seat 11 Slider 12 Motor bracket 13 Seat motor 14 Sprocket 15 Storage part 16 Battery 17 Inverter 18 Controller 20 Wheel 21 Rim 22 Tire 23 Chain 25 Wheel drive motor 26 Sprocket K Overall center of gravity Km Moving center of gravity Ks Fixed center of gravity P Grounding point

Claims (5)

A two-wheeled vehicle having wheels in parallel on the left and right on one lateral axis of the vehicle body,
A wheel drive motor fixed to the vehicle body and driving each of the wheels;
A posture holding means for stabilizing the posture of the vehicle body by changing the position of the center of gravity with respect to the axle supporting the wheels by moving a seat on which an occupant is seated in the front-rear direction;
The range of movement of the seat is set so that the center of gravity can be moved to the rear from the ground contact point of the ramp and the wheel in a backward posture with respect to a predetermined climbing ramp.
A two-wheeled vehicle characterized in that the ramp can be traversed with a passenger facing back.   The two-wheeled vehicle according to claim 1, wherein when the ramp is a staircase, the diameter of the wheel is set based on a step of the staircase.   The two-wheeled vehicle according to claim 1 or 2, wherein whether or not the predetermined slope is uphill is defined by a maximum uphill angle.   The shaft center line of the wheel drive motor is located between the vertical line of the axle and the grounding point of the wheel in the front-rear direction. Two-wheeled vehicle.   The two-wheeled vehicle according to any one of claims 1 to 4, wherein a battery and a control-related stationary device are disposed on a back surface of the seat.

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