JP2018094929A - Coaxial two-wheel vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coaxial two-wheel vehicle that enables an occupant to ride with an optimal posture regardless of the physique of the occupant.SOLUTION: The two-wheel vehicle includes: a vehicle body on which an occupant rides; a pair of wheels rotatably provided at the vehicle body; and a handle-bar provided so as to standing upright from the vehicle body, and gripped by the occupant for operation. The two-wheel vehicle runs while maintaining an inverted state in accordance with a movement of a center of the occupant. The two-wheel vehicle includes adjusting means for adjusting a relative distance between an axle of the pair of wheels and the handle-bar in a back-and-forth direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a coaxial two-wheeled vehicle that travels while maintaining an inverted state.

  There is known a coaxial two-wheeled vehicle that has a column that is erected on the vehicle body and a handle that is movable in the vertical direction along the column, and that runs while maintaining an inverted state in accordance with the movement of the center of gravity of the passenger. (See Patent Document 1).

JP 2016-1113058 A

  By the way, when a passenger rides on the above-described inverted coaxial two-wheeled vehicle, the front-rear riding position on the vehicle body is set so that the center of gravity of the coaxial two-wheeled vehicle on which the passenger is placed is on the axle of the pair of wheels. Decide. At this boarding position, the center-of-gravity moment due to the passenger's center of gravity (the weight of the passenger x distance between the center of gravity and the axle) and the center-of-gravity moment due to the center of gravity of the coaxial motorcycle (weight of the coaxial motorcycle x distance between the center of gravity and the axle) ) Is balanced. For this reason, the passenger needs to move and adjust the boarding position in the front-rear direction on the vehicle body according to his / her physique so that the moment of gravity around the axle is balanced. That is, when the passenger's weight is heavy (Fig. 6 (a)), the boarding position of the passenger is close to the axle, while when the passenger's weight is light (Fig. 6 (b)), the passenger's boarding The position will move away from the axle. For example, a passenger with a light weight needs to increase the centroid moment of the occupant by shifting the center of gravity backward and increasing the distance between the center of gravity and the axle. Accordingly, as the passenger with a lighter weight gets on the back of the vehicle body, as shown in FIG. 6 (b), the distance from the handle portion of the operation handle becomes too large, and the unreasonable posture that the waist can be pulled is strong. There is a risk of being.

  However, simply moving the handle portion in the vertical direction as described above cannot correct the distance from the operation handle, and passengers with light weight may still be forced into an unreasonable posture.

  The present invention has been made to solve such a problem, and a main object of the present invention is to provide a coaxial two-wheeled vehicle that allows the passenger to ride in an optimum posture regardless of the physique of the passenger.

In order to achieve the above object, one embodiment of the present invention provides:
A vehicle body on which the passenger is boarded;
A pair of wheels rotatably provided on the vehicle body;
A handle that is erected on the vehicle body and is gripped and operated by the occupant;
A coaxial two-wheeled vehicle that travels while maintaining an inverted state according to the movement of the center of gravity of the passenger,
Adjusting means for adjusting the relative distance between the axle of the pair of wheels and the handle in the front-rear direction;
It is a coaxial two-wheeled vehicle characterized by this.

  ADVANTAGE OF THE INVENTION According to this invention, the coaxial two-wheeled vehicle which this passenger can board with an optimal attitude | position irrespective of a passenger's physique can be provided.

1 is a perspective view illustrating a schematic configuration of a coaxial two-wheeled vehicle according to a first embodiment of the present invention. 1 is a block diagram showing a schematic system configuration of a coaxial two-wheeled vehicle according to a first embodiment of the present invention. It is a block diagram which shows the schematic structure of the adjustment apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the state which moves the handle | steering-wheel part of an operation handle back. It is a block diagram which shows schematic structure of the adjustment apparatus which concerns on Embodiment 2 of this invention. (A) It is a figure which shows an example of the boarding position in case a passenger's physique is large. (B) It is a figure which shows an example of the boarding position in case a passenger's physique is small.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a schematic configuration of a coaxial two-wheeled vehicle according to Embodiment 1 of the present invention. For example, the coaxial two-wheel vehicle 1 according to the present embodiment performs a desired traveling according to the movement of the center of gravity of the occupant while maintaining the inverted state.

  The coaxial two-wheeled vehicle 1 includes, for example, a vehicle main body 2 on which a passenger rides, an operation handle 3 that is erected on the vehicle main body 2 and that is operated by the passenger, and a pair of left and right wheels 4 that are rotatably provided on the vehicle main body 2. It is equipped with.

  The vehicle body 2 is provided with a pair of step portions 21 on which the rider's feet ride. On each side surface of the vehicle body 2, the axles of the wheels 4 are respectively provided via bearings and the like. The operation handle 3 includes, for example, a support column 31 erected on the front side and near the center of the vehicle main body 2, a handle unit 32 attached to the tip of the support column 31 and gripped by a passenger, and the handle unit 32. And a slide mechanism 33 that slides in the direction. The slide mechanism 33 is a mechanism that slides the handle portion 32 in the vertical direction along the support column portion 31. Thereby, the passenger can slide the handle portion 32 in accordance with his / her height and adjust it to the optimum height.

  FIG. 2 is a block diagram showing a schematic system configuration of the coaxial two-wheeled vehicle according to the first embodiment. The coaxial two-wheel vehicle 1 according to the first embodiment includes an attitude sensor 5, a pair of left and right rotation sensors 6, a pair of left and right wheel drive units 7, and a control device 8.

  The posture sensor 5 detects posture information such as the pitch angle, pitch angular velocity, pitch angular acceleration, roll angle, roll angular velocity, roll angular acceleration, yaw angle, yaw angular velocity, and yaw angular acceleration of the step unit 21 of the vehicle main body 2. The posture sensor 5 detects, for example, the pitch angle (inclination angle) of the step portion 21 of the vehicle main body 2 generated by the passenger moving the center of gravity back and forth, and the passenger moves the center of gravity left and right. It is possible to detect the roll angle (tilt angle) of the step portion 21 of the vehicle main body 2 generated in step S2.

  The posture sensor 5 is connected to the control device 8 and outputs the detected posture information to the control device 8. Note that the attitude sensor 5 is constituted by, for example, a gyro sensor, an acceleration sensor, an angle sensor, and the like.

  Each rotation sensor 6 detects rotation information such as the rotation speed, rotation angle, rotation speed, and rotation acceleration of the wheel 4 provided in the vehicle body 2. The rotation sensor 6 is, for example, an encoder. The rotation sensor 6 is connected to the control device 8 and outputs the detected rotation information to the control device 8.

  Each wheel drive unit 7 is a specific example of drive means. Each wheel drive unit 7 drives the vehicle body 2 by driving each wheel 4 rotatably provided on the vehicle body 2. Each wheel drive unit 7 can be constituted by, for example, a motor 71, a drive circuit 72 that drives the motor 71, a reduction gear 73 that is coupled to the rotating shaft of the motor 71 so as to be able to transmit power. The drive circuit 72 is, for example, a motor driver IC (Integrated Circuit) or a MOSFET (metal-oxide-semiconductor field-effect transistor). Each wheel drive unit 7 is connected to the control device 8 and drives each wheel 4 in accordance with a control signal (rotation command value) from the control device 8.

  The control device 8 is configured so that the vehicle body 2 performs a desired travel (forward, reverse, acceleration, deceleration, stop, left turn, right turn, etc.) while performing the inverted control to maintain the inverted state, for example. Each wheel drive unit 7 is controlled to control the rotation of each wheel 4. Further, the control device 8 is a well-known method such as feedback control or robust control based on the posture information of the vehicle body 2 detected by the posture sensor 5 and the rotation information of each wheel 4 detected by the rotation sensor 6. Take control.

  For example, the control device 8 uses each wheel drive unit 7 to change the pitch of the step portion 21 of the vehicle body 2 detected by the attitude sensor 5 when the occupant moves the center of gravity back and forth. By controlling the rotation of the wheels 4, the vehicle body 2 is moved forward or backward. The control device 8 controls each wheel drive unit 7 according to the roll angle of the step portion 21 of the vehicle main body 2 detected by the attitude sensor 5 when the occupant moves the center of gravity to the left or right. A rotational speed difference is generated between the left and right wheels, and the vehicle body 2 is turned left or right.

  Further, for example, the control device 8 multiplies the pitch angle of the step portion 21 of the vehicle main body 2 detected by the attitude sensor 5 by a predetermined control gain to calculate the rotational torque of each wheel 4. The control device 8 controls each wheel drive unit 7 so that the calculated rotational torque is generated in each wheel 4.

  Thereby, the control device 8 rotates each wheel 4 in the direction in which the vehicle main body 2 is inclined, and returns the position of the center of gravity of the vehicle main body 2 on which the passenger is placed to the vertical line passing through the axle of each wheel 4. Inverted control is performed. Further, the control device 8 adds an appropriate rotational torque to each wheel 4 to maintain an inverted state in which the pitch angle of the vehicle body 2 does not exceed a certain value, and further, the attitude sensor The movement control of the vehicle body 2 such as forward, reverse, stop, deceleration, acceleration, left turn, right turn, etc. can be performed according to the posture information from 5.

  The control device 8 includes, for example, a CPU (Central Processing Unit) 81 that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) or a RAM (Random) that stores a control program executed by the CPU 81, an arithmetic program, and the like. The microcomputer is mainly composed of a microcomputer including a memory 82 made up of an access memory and an interface unit (I / F) 83 for inputting / outputting signals to / from the outside. The CPU 81, the memory 82, and the interface unit 83 are connected to each other via a data bus or the like.

  By the way, when boarding a coaxial two-wheeled vehicle in an inverted state, the passenger determines the boarding position in the front-rear direction on the vehicle body so that the center of gravity of the coaxial two-wheeled vehicle on which the passenger is placed is on the axle of the pair of wheels. This boarding position is an inverted neutral position, and the rider can easily move the coaxial two-wheel vehicle in the front-rear direction by moving the center of gravity in the front-rear direction at this neutral position. At this boarding position, the center-of-gravity moment due to the passenger's center of gravity (the weight of the passenger x distance between the center of gravity and the axle) and the center-of-gravity moment due to the center of gravity of the coaxial motorcycle (weight of the coaxial motorcycle x distance between the center of gravity and the axle) ) Is balanced. For this reason, the passenger needs to move and adjust the boarding position in the front-rear direction on the vehicle body according to his / her physique so that the moment of gravity around the axle is balanced. In other words, when the passenger's physique is large (heavy weight), the boarding position of the occupant approaches the axle (Fig. 6 (a)), while when the passenger's physique is small (light weight), boarding A person's boarding position will go away from an axle (Drawing 6 (b)). For example, a light passenger with a small physique needs to shift the center of gravity backward and increase the distance between the center of gravity and the axle to increase the passenger's center of gravity moment. Therefore, a passenger with a light weight and a small physique gets on the back of the vehicle body as shown in FIG. 6B, so that the distance from the handle portion 32 of the operation handle becomes too large or the waist can be pulled out. There is a risk of being forced into a stance.

  On the other hand, the coaxial two-wheel vehicle 1 according to the present embodiment includes the adjusting device 9 that adjusts the relative distance between the axle of the pair of wheels 4 and the handle portion 32 of the operation handle 3 in the front-rear direction. By adjusting the relative distance between the axle of the pair of wheels 4 and the handle portion 32 of the operation handle 3 in the front-rear direction by the adjusting device 9, the position of the center of gravity of the coaxial two-wheeled vehicle 1 on which the passenger is placed is on the axle. In addition, regardless of the physique of the occupant, the occupant can properly maintain the distance from the operation handle 3 and can board in an optimal posture. Thereby, for example, the posture of the passenger becomes constant, and variations in the rehabilitation effect due to balance training can be reduced.

  The adjusting device 9 is a specific example of adjusting means. The adjustment device 9 adjusts the relative distance between the axle and the handle portion 32 of the operation handle 3 in the front-rear direction by moving the support 31 of the operation handle 3 in the front-rear direction relative to the axle.

  FIG. 3 is a block diagram illustrating a schematic configuration of the adjustment device according to the first embodiment. For example, the adjustment device 9 includes a column moving mechanism 91 that moves the column 31 of the operation handle 3 in the front-rear direction, an actuator 92 that drives the column moving mechanism 91, and an adjustment lever 93 that is operated by the passenger. ing. The column moving mechanism 91 is provided near the base of the column 31 of the operation handle 3 and includes a speed reduction mechanism, a clutch mechanism, and the like. The actuator 92 is a linear motion motor or the like, and drives the column moving mechanism 91 to move the column 31 of the operation handle 3 in the front-rear direction. The adjustment lever 93 is provided at a position where a passenger or the like can operate the vehicle body 2 or the operation handle 3.

  When the passenger operates the adjustment lever 93 in the front-rear direction, the actuator 92 is driven, and the strut moving mechanism 91 moves the strut portion 31 of the operation handle 3 in the front-rear direction. Thereby, the relative distance between the axle and the handle portion 32 of the operation handle 3 can be adjusted in the front-rear direction. That is, the passenger determines the boarding position according to his / her body weight so that the center of gravity of the coaxial two-wheeled vehicle 1 on which the passenger is placed is on the axle, and the handle portion of the operation handle 3 is matched to the boarding position. The handle portion 32 of the operation handle 3 can be adjusted in the front-rear direction by the adjusting device 9 so that the distance from the control handle 32 can be appropriately maintained and an optimum posture can be obtained.

  For example, as shown in FIG. 6 (b), the boarding position of a passenger with a light weight and a small physique approaches the rear side of the vehicle body 2, but the passenger operates the adjustment lever 93, as shown in FIG. By moving the handle portion 32 of the operation handle 3 to the rear side, the handle portion 32 can be gripped and operated in an optimum posture while maintaining an appropriate distance from the handle portion 32.

  In addition, the structure of the said adjustment apparatus 9 is an example, and is not limited to this. For example, the structure may be such that the support moving mechanism 91 is driven by turning an adjustment screw, and the support 31 of the operation handle 3 is moved in the front-rear direction. The adjusting device 9 may have a configuration including a linear motion slider mechanism that moves the support 31 of the operation handle 3 in the front-rear direction and a clutch mechanism that fixes the linear motion slider mechanism at a desired position.

  Further, the adjusting device 9 may adjust the relative distance between the axle and the handle portion 32 of the operation handle 3 in the front-rear direction by inclining the operation handle 3 in the front-rear direction. Thus, the passenger can determine the boarding position according to the weight and adjust the handle portion 32 of the operation handle 3 in the front-rear direction so as to take an optimal posture according to the boarding position. For example, the boarding position of a passenger with a small body weight approaches the rear side of the vehicle body 2, but the passenger increases the distance from the handle portion 32 by tilting the handle portion 32 of the operation handle 3 to the rear side. The handle portion 32 can be gripped and operated in an optimal posture while being appropriately maintained.

  As described above, the coaxial two-wheel vehicle 1 according to the first embodiment includes the adjusting device 9 that adjusts the relative distance between the axle of the pair of wheels 4 and the handle portion 32 of the operation handle 3 in the front-rear direction. By adjusting the relative distance between the axle of the pair of wheels 4 and the handle portion 32 of the operation handle 3 in the front-rear direction by the adjusting device 9, the position of the center of gravity of the coaxial two-wheeled vehicle 1 on which the passenger is placed is on the axle. In addition, regardless of the physique of the occupant, the occupant can properly maintain the distance from the operation handle 3 and can board in an optimal posture.

Embodiment 2
In Embodiment 2 of the present invention, the adjustment device adjusts the relative distance between the axle and the operation handle 3 in the front-rear direction by moving the axle relative to the operation handle 3 in the front-rear direction.

  FIG. 5 is a block diagram illustrating a schematic configuration of the adjustment device according to the second embodiment. For example, the adjustment device 90 according to the second embodiment includes an axle movement mechanism 94 that moves the axle in the front-rear direction, an actuator 95 that drives the axle movement mechanism 94, and an adjustment lever 96 that is operated by the passenger. ing.

  The axle movement mechanism 94 is provided on an axle bearing or the like, and includes a speed reduction mechanism, a clutch mechanism, and the like. The actuator 95 is a linear motion motor or the like, and drives the axle movement mechanism 94 to move the axle in the front-rear direction. The adjustment lever 96 is provided on the vehicle main body 2, the operation handle 3, and the like so that a passenger can operate. When the passenger operates the adjustment lever 96 in the front-rear direction, the actuator 95 is driven, and the axle movement mechanism 94 moves the axle in the front-rear direction. Thereby, the relative distance between the axle and the handle portion 32 of the operation handle 3 can be adjusted in the front-rear direction.

  That is, the passenger can adjust the position of the axle so that the position of the center of gravity of the coaxial two-wheeled vehicle 1 on which the passenger is placed is on the axle and the distance from the handle portion 32 of the operation handle 3 is optimal. For example, the boarding position of a passenger with a light weight and a small physique usually approaches the rear side of the vehicle body 2 as described above. However, the passenger operates the adjustment lever 96 to move the axle forward. As a result, the distance between the center of gravity of the coaxial two-wheel vehicle 1 and the axle is reduced, and the moment of the center of gravity is also reduced. Conversely, the distance between the passenger's center of gravity and the axle increases, and the center of gravity moment also increases. Therefore, the occupant can approach the front side by an increase in the distance and the center of gravity moment. That is, the occupant can maintain the distance from the handle portion 32 of the operation handle 3 appropriately, and can grip and operate the handle portion 32 in an optimal posture. In addition, in this Embodiment 2, since another structure is substantially the same as the said Embodiment 1, the same code | symbol is attached | subjected to the same part and detailed description is abbreviate | omitted.

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

DESCRIPTION OF SYMBOLS 1 Coaxial two-wheeled vehicle, 2 Vehicle main body, 3 Operation handle, 4 Wheel, 5 Attitude sensor, 6 Rotation sensor, 7 Wheel drive unit, 8 Control apparatus, 9 Adjustment apparatus, 21 Step part, 31 Support | pillar part, 32 Handle part, 33 Slide Mechanism, 71 Motor, 72 Drive circuit, 73 Reduction gear, 90 Adjustment device, 91 Strut movement mechanism, 92 Actuator, 93 Adjustment lever, 94 Axle movement mechanism, 95 Actuator, 96 Adjustment lever

Claims (1)

A vehicle body on which the passenger is boarded;
A pair of wheels rotatably provided on the vehicle body;
A handle that is erected on the vehicle body and is gripped and operated by the occupant;
A coaxial two-wheeled vehicle that travels while maintaining an inverted state according to the movement of the center of gravity of the passenger,
Adjusting means for adjusting the relative distance between the axle of the pair of wheels and the handle in the front-rear direction;
A coaxial two-wheeled vehicle characterized by that.

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