JP2020192943A - Attitude stabilizing device for parallel two-wheeled traveling body - Google Patents

Abstract

To provide an attitude stabilizing device that enables a weight to move even when a parallel two-wheeled traveling body is not driving, and further stop at a predetermined position.SOLUTION: A main body part of a parallel two-wheeled traveling body comprises a space part where a movement space for a weight is secured. The space part comprises a rack part which is arranged extending in a moving-forward/backward direction of the weight and has teeth at a predetermined pitch in its extending direction, and a stopper part which limits at least a movement of the weight and has teeth at the pitch with the rack part, and can vary a gap with the rack part. The weight has a gear-shaped pinion part meshing with the rack part. The stopper part is so arranged for the pinion part which meshes with the rack part as to mesh with the pinion part at a different position from the rack part when the gap to the rack part is shortened.SELECTED DRAWING: Figure 1

Description

The present invention relates to a posture stabilizing device in a parallel two-wheeled vehicle in which two wheels arranged in parallel are driven and moves, and more particularly to a device for controlling a weight moving to stabilize the posture. is there.

The inventors of the present application have so far developed a mechanism for stabilizing the posture of a parallel two-wheeled vehicle. For example, in order to prevent the parallel two-wheeled vehicle from tilting back and forth around the axle due to a change in acceleration when the parallel two-wheeled vehicle starts or stops, there is one that makes the weight movable (Patent Document 1). reference). Further, there is a mechanism for moving the weight in order to arbitrarily tilt or maintain the posture of the parallel two-wheeled vehicle (see Patent Document 2).

Japanese Unexamined Patent Publication No. 2011-131660 JP-A-2017-203545

The above-mentioned prior art has been exclusively related to attitude control during operation of a parallel two-wheeled vehicle, that is, in a situation where power is transmitted by a driving device. These techniques were suitable in operation.

However, when the parallel two-wheeled vehicle is moved in a non-operating state, for example, when it is moved in a non-driving state, the weight moving device is not controlled, so that the weight can move freely. Due to the situation, the posture when moving was sometimes unstable. Therefore, it is assumed that a servomotor with a brake function is used as the drive source, but since this brake function operates in a state where no voltage is applied to the servomotor, the weight once stopped is moved. Was required to apply voltage again, and it was not easy to move the weight (move to a suitable position) when it was not operating.

Such movement of the weight during non-operation is important for maintaining a stable posture when the mounted article is changed during non-operation, and when the parallel two-wheeled vehicle is used as a wheelchair, it is pushed by hand ( Since it is also required to enable the operation state by (manual), it is indispensable to move the weight in the non-driving state in order to stabilize the posture while in the wheelchair.

The present invention has been made in view of the above points, and an object of the present invention is to enable the weight to move even when the parallel two-wheeled vehicle is not driven, and to stop the weight at a predetermined position. It is to provide a posture stabilizer which can be made to do.

Therefore, the present invention relates to a parallel two-wheeled traveling body including two wheels having a sufficiently large diameter arranged in parallel and a main body portion having a center of gravity at a position lower than the rotation center of the wheels in the middle of the wheels. , A posture stabilizing device in which weights capable of advancing and retreating in the traveling direction of all wheels are mounted on the main body portion, and the main body portion includes a space portion in which a moving space for the weight is secured, and the space portion. Is arranged so as to extend in the advancing / retreating direction of the weight, and the rack portion having teeth having a predetermined pitch in the extending direction and at least the movement of the weight in the moving direction are restricted and the same as the rack portion. A stopper portion having pitch teeth and capable of changing the gap with the rack portion is provided, the weight is provided with a gear-shaped pinion portion that meshes with the rack portion, and the stopper portion is the rack portion. When shortening the gap between the wheels, the pinion portion that meshes with the rack portion is arranged so as to be able to mesh with the pinion portion at a position different from that of the rack portion.

According to the above configuration, the pinion portion provided on the weight is in a state of being meshed with the rack portion arranged in the space portion. Therefore, when the weight moves, the pinion portion extends in the moving direction of the weight. It will be regulated by the teeth of the rack part. Therefore, the weight can be moved within a range in which the pinion portion can mesh with the rack portion, that is, within a range in which teeth are formed in the extending direction of the rack portion. In such a state, the stopper portion has teeth that can mesh with the pinion portion at a position different from that of the rack portion. Therefore, when the teeth of the same pinion portion are engaged with the teeth of the same pinion portion separately from the rack portion at different positions, the pinion portion cannot rotate freely unless the stopper portion can move in accordance with the rotation of the pinion portion. Therefore, since the movement of the stopper portion at least in the moving direction of the weight is restricted, the rotation of the pinion portion when the pinion portion meshes with the rack portion and the stopper portion meshes with the pinion portion. Can be stopped. The stopper portion can change the gap between the pinion portion and the pinion portion in order to switch between the rotatable state and the stopped state of the pinion portion. In the state where the stopper portion is closest to the pinion portion, the stopper portion is a pinion. The meshing can be released in a state where the portion is meshed and the gap is enlarged.

In the invention of the above configuration, the pinion portion may be supplied with a rotational driving force by a drive source built in the weight, and the weight may be self-propelled within a range of meshing with the rack portion.

In the case of such a configuration, as described above, the pinion portion is maintained in a state of being meshed with the rack portion. Therefore, by driving the pinion portion, the teeth of the rack portion are engaged in the range of meshing with the rack portion. You can move (self-propelled) along. That is, the weight can be moved back and forth by other driving means, but in this case, the pinion portion moves on the tooth surface of the rack portion without being driven, and normally a mere load (friction resistance) is applied. It will be given. On the other hand, by incorporating the pinion portion into the drive mechanism, it is possible to transmit the driving force while eliminating the load. Since the stop of the weight by the stopper portion is based on the premise that the weight is not driven by the weight, even if the pinion portion is incorporated in the drive mechanism, the rotation by the stopper portion is performed. It can be stopped.

In the invention of each of the above configurations, the stopper portion may be formed in a long rack shape, and one end thereof may be rotatably pivotally supported. In the case of such a configuration, first, the gap between the stopper portion and the rack portion can be changed by rotating the stopper portion around the shaft support portion. Secondly, since it has a long rack shape, the meshing range with the pinion portion is widened, and it is possible to stop the weight in a state where it is appropriately moved.

In the above configuration, the stopper portion is arranged such that the end face on which the teeth are formed faces the end face on which the teeth of the rack portion are formed, and the stopper portion rotates in a predetermined direction. When both end faces are parallel to each other, the teeth of the pinion portion are engaged with the teeth of the pinion portion, and when the stopper portion rotates in the direction opposite to the predetermined direction to expand the gap between both end faces, the teeth of the pinion portion are used. It can be configured to be disengaged from.

In the case of the above configuration, when the gap with the rack portion is changed by the rotation of the stopper portion, teeth are formed on both linear end faces, and the two face each other so that the end faces are parallel to each other. If is made to appear, the position of the pinion portion can stop the rotation evenly in the range where the end faces of the two are parallel to each other.

In the case of the above configuration, the rotation of the stopper portion changes in two states, a position where both end surfaces of the stopper portion and the rack portion are parallel and a position where the both end surfaces are angular. It can be assumed that the stopper portion is urged in a direction in which both end faces are angular.

According to such a configuration, by making both end faces on which teeth are formed so as to face each other in a parallel state, a state of stopping the rotation of the pinion portion (stopping the movement of the weight) is intentionally made to appear. , The pinion portion can be freely rotated (weights can be moved freely) at all times. In addition, both end faces change between a parallel state and a horned state, and in the case of an intermediate state between the two, the pinion portion is guided in a horned direction. The state in which the horn is rotatable will be prioritized. When the device is operating, the stopper is basically not operated, but even if the state of the stopper changes unconsciously or accidentally, it is restored to be angular by the urging force. You will get it.

Further, in the invention in which the end faces of the pinion portion and the rack portion face each other, the main body portion includes a bottom surface portion, and the space portion is configured above the bottom surface portion. The portion includes a rail portion that regulates the moving direction of the weight, the rack portion is configured to extend in a direction parallel to the rail portion, and the pinion portion is in a direction orthogonal to the bottom surface portion. It can be provided on a rotating shaft having the axis as.

According to the above configuration, the bottom surface provided on the main body is provided with a rail portion that regulates the moving direction of the weight, and the rack portion is arranged parallel to the rail portion. Therefore, the weight is driven by the pinion portion. Movement will be in a regulated direction. At this time, the weight can move in the space above the bottom surface, and since the rotation axis that drives the pinion to rotate is orthogonal to the bottom surface, the stopper meshes with the gear of the pinion sandwiched between them. You will be able to do it. Therefore, the fixed end side of the stopper portion can be pivotally supported with the bottom surface portion. Since the pinion portion moves together with the weight, the meshing state with the rack portion is maintained. For example, a long groove or a long hole is provided on the bottom surface portion, and the pinion portion is provided along the long groove or the long hole. If the rotating shaft of the above can be moved, the meshing state with the rack portion can be stabilized.

Further, in the invention of the configuration in which the stopper portion is rotatably supported by an axis, the free end of the stopper portion includes an operation lever, and a part or all of the operation lever is outward from the main body portion. It can be provided so as to protrude from the.

According to such a configuration, the operation of stopping and releasing the weight by the stopper portion can be performed outside the main body portion. In this case, for example, in the case of a configuration in which the bottom surface portion is provided on the main body portion as in the above-described configuration, if the operation lever is projected downward from the bottom surface portion, the original operation of the traveling body is hindered. It does not come, and the operator can operate it near the toes of the toes.

According to the present invention, when the parallel two-wheeled vehicle is operated, the movement state of the weight is controlled to stabilize the posture, and when the operation is stopped, the weight is not driven against the movement of the weight when the vehicle is not driven. , Allows the weight to move. At this time, in a state where the weight can be moved, the weight can be moved to a predetermined position and stopped by the stopper portion. It should be noted that the weight can be moved when it is not driven by tilting the main body, or by manually operating the drive motor or the like.

It is explanatory drawing which shows the embodiment of this invention. It is explanatory drawing which shows the embodiment of this invention. It is explanatory drawing which shows the structure of the bottom surface part of the main body part. It is explanatory drawing which shows the structure on the other end side of a stopper part. It is explanatory drawing which shows the operation mode of embodiment. It is explanatory drawing which shows the modification of the embodiment, (a) is the sectional view by the VIA-VIA line in FIG. 5, and (b) is the sectional view by the same VIB-VIB line.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2 show an outline of a parallel two-wheeled vehicle provided with the posture stabilizing device of the present embodiment. Note that FIG. 1 shows a state in which the parallel two-wheeled vehicle is viewed from the front in the traveling direction, and FIG. 2 shows a state in which the parallel two-wheeled vehicle is viewed from the rear side.

As shown in these figures, the parallel two-wheeled traveling body A is composed of two wheels 1 and 2 arranged in parallel and a main body portion 3 arranged in the middle thereof. Wheels 1 and 2 have an appropriately large diameter, and both wheels 1 and 2 can roll individually by receiving driving force transmitted by a driving unit (not shown) installed in the main body 3. Yes, it can run by rolling the wheels 1 and 2. The rolling of both wheels 1 and 2 is controlled individually, and when rolling at the same rotation speed, it can move forward and backward linearly, and by making the rotation speed or rotation direction different between the two wheels 1 and 2. , Can be steered or rotated.

The main body portion 3 is composed of a bottom surface portion 31 and side wall portions 32 and 33, and a predetermined space portion is formed. In this space, in addition to the drive source used to drive the wheels 1 and 2, a moving mechanism of the weight 4 constituting the posture stabilizing device is provided. By providing a top plate portion (not shown) in this space portion, the entire space portion can be closed, and other necessary mechanisms (for example, a sitting chair or a photographing device) can be provided in the top plate portion. Etc.), it can be used as a device for a predetermined purpose.

The weight 4 has a weight (not shown) of a predetermined weight arranged inside a box-shaped casing, and the casing is provided on rails 41 and 42 installed on the upper surface of the bottom surface 31 of the main body 3. It is fixedly installed on the sliders 43 and 44 that move along the rails. The rail portions 41 and 42 are formed of a long one extending in a linear advancing / retreating direction of the parallel two-wheeled traveling body A, and therefore, the weight 4 is such that the parallel two-wheeled traveling body A linearly moves back and forth. It is configured to move forward and backward in a direction parallel to the direction of advance.

The weight 4 has a configuration in which a drive unit 5 is built in the casing so as to be self-propelled, and a battery 6 for that purpose is also mounted. Further, the weight 4 has a weight including the drive unit 5 and the battery 6 together with the installation of the weight, and the weight 4 moves along the rail portions 41 and 42 by the sliders 43 and 44, so that the parallel two-wheeled vehicle A It adjusts the weight balance in the front-rear direction.

By the way, the self-propelled weight 4 is due to the transmission of the driving force by the driving unit 5 described above, but the driving unit 5 is transmitted with the servomotor 51 and the rotational driving force by the servomotor 51. It is configured to include a pinion portion 52. The pinion portion 52 is composed of spur gears. On the other hand, on the upper surface of the bottom surface portion 31 of the main body portion 3, a rack portion 7 extending in parallel with the rail portions 41 and 42 that regulate the advancing / retreating direction of the weight 4 is provided. The rack portion 7 is formed with teeth on the side end faces that mesh with the pinion portion 52 described above. By engaging the pinion portion 52 with the teeth of the rack portion 7, the rack portion 7 can be moved forward and backward in the extending direction according to the rotation of the pinion portion 52.

Here, the above-mentioned servomotor 51 is controlled by a control unit (not shown), and the weight 4 is moved forward and backward according to the tilted state of the main body 3, so that the total weight of the parallel two-wheeled traveling body A is increased. The balance is achieved and the weight is adjusted to induce the tilted state to the upright state. The tilting of the main body 3 (parallel two-wheeled traveling body A) occurs exclusively when the acceleration during traveling changes, and may occur at the start of traveling, when the vehicle is stopped, or the like. Further, the weight 4 is also moved when the main body 3 (parallel two-wheeled vehicle A) is intentionally tilted with the weight balance in an unbalanced state. The intentional tilt is used when adjusting the shooting direction by the shooting device, for example, when it is used as a monitoring traveling body equipped with the shooting device.

In this embodiment, a stopper portion 8 made of a member different from the rack portion 7 is provided. The stopper portion 8 has a rack shape having teeth that can mesh with the pinion portion 52 described above, and the surface having the teeth is arranged at a position facing the end surface having the teeth of the rack portion 7. It is a thing.

The teeth of the stopper portion 8 can be meshed with the pinion portion 52, but are not installed in a state of being meshed at all times, but are provided to be meshed when stopping the advance / retreat of the weight 4. That is, the stopper portion 8 having a long shape is pivotally supported by the main body portion 3 (bottom surface portion 31) in the vicinity of one end, and is rotatably provided around the shaft stop portion 81. Then, by rotating the stopper portion 8, the distance between the toothed surface and the toothed end surface of the rack portion 7 can be changed.

Therefore, when the two are brought close to each other, the teeth of the stopper portion 8 can mesh with the teeth of the pinion portion 52, and when the two are separated from each other, the teeth of the stopper portion 8 are separated from the teeth of the pinion portion 52. It will be disengaged and the meshing will be released.

In a state where the two are brought close to each other, it is preferable that the end surface having the teeth of the rack portion 7 and the surface having the teeth of the stopper portion 8 are parallel to each other. In the case of such a configuration, the pinion portion 52 can be stopped at an arbitrary position in the advancing / retreating direction of the weight 4 without specifying the position of the pinion portion 52. Therefore, not only when the weight 4 is stopped at the central position of the rack portion 7 (the center of the main body portion 3) to maintain the state in which the weight balance is balanced, the weight 4 is biased forward or backward to balance the weight. It is also possible to stop the movement of the weight 4 in an imbalanced state.

Therefore, the mechanism for stopping and releasing the movement of the weight 4 by the stopper portion 8 will be described in detail. FIG. 3 shows rail portions 41, 42, sliders 43, 44, rack portion 7, and stopper portion 8 provided on the bottom surface portion 31 of the main body portion 3, and a drive portion 5 (particularly a servomotor 51 and a pinion) built in the weight 4. It shows the state of part 52). Note that FIG. 3A shows an open state in which the pinion portion 52 does not mesh with the pinion portion 52, and FIG. 3B shows a stopped state in which the stopper portion 8 meshes with the pinion portion 52.

As shown in these figures, the pinion portion 52 of the drive portion 5 is installed in a state of being lowered to a position where it can reach the rack portion 7 and the stopper portion 8 provided on the bottom surface portion 31. When the pinion portion 52 descends to the rack portion 7 and the stopper portion 8, the pinion portion 52 is in a state where it can mesh with both the teeth formed on the rack portion 7 and the teeth formed on the stopper portion 8. Since these teeth are formed on the opposite end faces of the rack portion 7 and the stopper portion 8 which are both elongated, the pinion portion 52 can be simultaneously meshed from both sides. ..

As described above, the stopper portion 8 is pivotally supported near one end of the elongated shape and is rotatably provided around the shaft stop portion 81. Therefore, by rotating the stopper portion 8, the teeth It is possible to change the distance (gap between the pinion portion 52) between the end face on which the is formed and the opposite end face of the rack portion 7. Since the pinion portion 52 is always interposed between the rack portion 7 and the stopper portion 8, the state in which the distance between the two is closest is the state in which both are engaged with the pinion portion 52. By rotating the stopper portion 8 to increase the distance between the two, it is possible to release only the meshing by the stopper portion 8.

The pinion portion 52 always meshes with the teeth of the rack portion 7 regardless of the state of the stopper portion 8, and can move within a range in which it can mesh with the teeth of the rack portion 7 when the stopper portion 8 does not mesh. Is. When the device is in the operating state, the pinion portion 52 can be rotated to move along the rack portion 7 (the weight can be self-propelled). On the other hand, when the teeth of the stopper portion 8 mesh with the pinion portion 52, the two teeth mesh with each other at the same time, so that the pinion portion 52 cannot rotate and the movement of the pinion portion 52 (movement of the weight 4) stops. It will be in the state of being. Therefore, when the device is operating, the teeth of the stopper portion 8 do not mesh with the pinion portion 52, and when the device is stopped and it is necessary to stop the movement of the pinion portion 52 (weight 4). Only in this case, the stopper portion 8 is rotated.

Therefore, in the present embodiment, the urging means 9 is provided on the other end side 82 of the stopper portion 8. In the urging means 9, of the two end arms 92 and 93 of the torsion coil spring 91, one end arm 92 is fixed to the bottom surface portion 31, and the other end arm 93 is attached to the tooth-side end surface of the stopper portion 8. It is in contact with each other. In the torsion coil spring 91, the coil portion is supported by the shaft portion 90, and stress is applied in the rotational direction so that the arms 92 and 93 approach each other around the coil portion, and the repulsive force causes the torsion coil spring 91 to rotate in the opposite direction. It can be urged to. In the present embodiment, since the other end arm 93 is brought into contact with the other end side 82 of the stopper portion 8, the end face on which the teeth of the stopper portion 8 are formed is rotated so as to approach the rack portion 7. Then, the other end side 82 of the stopper portion 8 moves against the spring pressure of the torsion coil spring 91, and the repulsive force at that time acts on the other end side 82 in the backward direction (the direction away from it). be able to.

In this way, the stopper portion 8 is urged toward a position away from the rack portion 7 by the urging means 9 using the torsion coil spring 91, as shown in FIG. 3A. , The state of not meshing with the pinion portion 52 is maintained. That is, during normal operation, the stopper portion 8 is stably arranged so as not to come into contact with the pinion portion 52.

When the stopper portion 8 is rotated and meshed with the pinion portion 52, the end face on which the teeth of the stopper portion 8 are formed is parallel to the facing end surface of the rack portion 7, as shown in FIG. 3 (b). It becomes a state. As a result, even when the pinion portion 52 (weight 4) moves in the advancing / retreating direction, the movement can be stopped.

Further, the torsion coil spring 91 is provided with an appropriate torsional moment so that the stopper portion 8 does not easily rotate due to vibration or the like during operation of the device. For example, the spring constant is relatively large. This may be the case, or the torsion coil spring 91 may be installed in a state where a repulsive force is applied in advance.

By the way, it is assumed that it is necessary to maintain the state in which the rotation of the pinion portion 52 (movement of the weight 4) by the stopper portion 8 is stopped. In this embodiment, assuming such a case, as shown in FIG. 4, a substantially L-shaped operating end portion 83 continuous with the other end side 82 of the stopper portion 8 is provided, and this is provided on the bottom surface portion 31. It is arranged on the lower surface side of the bottom surface portion 31 via the through portion 34 provided. Note that FIG. 4 shows the operation end portion 83 in a state of being separated downward from the bottom surface portion 31 so that the state of the operation end portion 83 can be understood, but the flat surface portion of the operation end portion 83 is the bottom surface. It is slidably contacted (or arranged in the vicinity) on the lower surface side of the portion 31.

An operation lever 84 is provided on the operation end portion 83, and by operating the operation lever 84, the position of the other end side 82 of the stopper portion 8 can be changed (the stopper portion 8 is rotated). The tip portion 85 thereof is provided integrally with the protrusion portion 86 that penetrates the operating lever 84 and projects upward. Therefore, when the tip 85 is listed (in contact with the operation lever 84), the protrusion 86 is in a state of protruding from the surface of the operation end 83 (see FIG. 4A), and the tip 85 By lowering, the protrusion 86 is submerged inside the operating end 83. In the present embodiment, a tension coil spring (not shown) is built in the operating lever 84, and when the tip portion 85 is pulled down so as to lower it, an upward tensile force acts on the tip portion 85. It is supposed to urge the protrusion 86 in the upward direction with respect to the protrusion 86.

The protrusion 86 can be engaged with the engaged portions 35 and 36 provided on the bottom surface portion 31, and when the protrusion 86 is projected upward, it is engaged with the engaged portions 35 and 36. The operation of the operation lever 84 (movement of the other end 82 of the stopper 8) is restricted. The engaged portions 35 and 36 are provided at two places, and when engaging with one of the engaged portions 35, they are fixed in a state where the stopper portion 8 is disengaged from the pinion portion 52 and the other. When engaged in the engaged portion 36, it is fixed in the meshed state.

Therefore, when the device operates, the protrusion 86 is engaged in one of the engaged portions 35, and the stopper portion 8 is fixed by the protrusion 86 together with the urging by the urging means 9 described above. Is maintained in a state where it does not mesh with the pinion portion 52. On the other hand, when the stopper portion 8 meshes with the pinion portion 52, the tip portion 85 of the operating lever 84 is lowered, and the operating lever 84 is released while the protrusion 86 is released from the engaged portion 35. It will be moved. Even if the lowering of the tip portion 85 is released during the movement of the operating lever 84, the protruding portion 86 only slides into the lower surface of the bottom surface portion 31, and the operating lever 84 and the stopper portion 8 The position of the other end side 82 is not fixed. If the lowering of the tip 85 is released while the operating lever 84 (the other end 82 of the stopper 8) is sufficiently moved, the protrusion 86 engages with the other engaged portion 36 and the stopper The meshing state of the portion 8 with the pinion portion 52 is maintained.

In the case of the present embodiment having the above-described configuration, when the meshing state is released, the operation can be performed only by lowering the tip portion 85 of the operation lever 84. That is, as described above, since the urging force by the urging means 9 acts on the other end side 82 of the stopper portion 8, the protrusion 86 is released from the engagement of the other engaged portion 36. This is because the stopper portion 8 is forcibly rotated by the urging force. Further, since the tip portion 85 and the protrusion portion 86 are urged in the upward direction by the tension coil spring built in the operation lever 84, even if the operation in the downward direction with respect to the tip portion 85 is released, the protrusion portion The 86 can move to one of the engaged portions 35 by sliding on the lower surface of the bottom surface portion 31.

Further, since the operation lever 84 is provided on the lower surface side of the bottom surface portion 31 of the main body portion 3, it is arranged at an extremely low position. Therefore, the operation in the downward direction with respect to the tip portion 85 and the movement operation of the operation lever 84 can be performed by the toes of the operator's foot. This makes it possible to stop the movement of the weight 4 while supporting the parallel two-wheeled vehicle by hand. When the parallel two-wheeled vehicle is supported by hand, the wheelchair is used when the weight 4 is intentionally tilted to move the weight 4 to an arbitrary position, or when the parallel two-wheeled vehicle is used as a wheelchair or a hand-held trolley. Alternatively, it may be necessary to operate the dolly by hand.

Since the present embodiment has the above-described configuration, the case where the weight 4 is allowed to move and the case where the weight 4 is stopped can be easily performed by rotating the stopper portion 8 by operating the operation lever 84 described above. It becomes possible. That is, when allowing the weight 4 to move, as shown in FIG. 5A, the other end side 82 is rotated in the direction away from the rack portion 7 around the shaft stop portion 81 of the stopper portion 8. As a result, the stopper portion 8 cannot mesh with the pinion portion 52, and the pinion portion 52 (weight 4) can be moved by rotating along the rack portion 7.

When stopping the pinion portion 52 (stopping the movement of the weight 4), as shown in FIG. 5B, the stopper portion 8 is rotated so that the other end side 82 approaches the rack portion 7 side. Therefore, when the pinion portion 52 is meshed with the pinion portion 52, the pinion portion 52 becomes unable to rotate, and its movement can be stopped. As shown in this figure, the pinion portion 52 (weight 4) can be stopped at an appropriate position by providing the teeth of the stopper portion 8 that can mesh with the pinion portion 52 over an appropriate length. it can.

As a matter of course, when the teeth of the stopper portion 8 are engaged with the pinion portion 52, the pinion portion 52 is not rotating (driving force is not transmitted). Since the state in which the pinion portion 52 is rotating is a state in which the movement of the weight 4 is controlled, a sudden stop of the weight 4 not only lacks the stability of the device, but also causes the pinion portion 52 and the pinion portion 52 to be poorly meshed. This is because the stopper portion 8 may be damaged. Further, since it is premised that the servomotor 51 that operates the pinion portion 52 does not have a brake mechanism, if the main body portion 3 is tilted in a state where it is not driven, it is appropriate depending on the weight 4's own weight. It is possible to move it to a position.

The embodiments of the present invention are as described above, but these embodiments show an example of the present invention, and the present invention is not intended to be limited to the above embodiments. Therefore, the configuration of the above embodiment may be changed or another configuration may be added.

For example, as shown in FIGS. 6A and 6B, the bottom surface 31 of the main body 3 is allowed to insert a rotation shaft 53 for transmitting a rotation driving force to the pinion portion 52, and moves. It may be configured to provide a long hole (or a long groove) 37 that enables it. The longitudinal direction of the elongated hole 37 is provided parallel to the extending direction of the rack portion 7, that is, the direction of the end face on which the teeth are formed, and the rotating shaft 53 that moves in a state of being meshed with the rack portion 7 is provided. , It is possible to move within the range (predetermined length) where the meshing is possible.

Therefore, the pinion portion 52 moves along the movement of the rotation shaft 53, and the moving direction and moving range thereof coincide with the direction and range in which the teeth of the rack portion 7 are formed. Then, when the pinion portion 52 moves along the teeth of the rack portion 7, that is, when the pinion portion 52 moves by rotation with respect to the pinion portion 52, it is possible to prevent the pinion portion 52 from detaching from the teeth of the rack portion 7. This is because the rack portion 7 is provided on the upper surface of the bottom surface portion 31, so that the pinion portion 52 (rotation axis 53) is provided in the direction orthogonal to the bottom surface portion 31, and the bottom surface portion 31 is a horizontal plane or 45 degrees. When the inclined surface is inclined to the following, it is not possible to apply a weight that presses the teeth of the pinion portion 52 to the teeth of the rack portion 7. That is, when both teeth can be pressed against each other by the weight of either one, the meshing state of the two is stable, but the meshing direction is not a vertical direction but a horizontal state (or is inclined). However, in a state where it deviates significantly from the vertical direction), it is not easy to press both teeth against each other. Therefore, by providing the elongated hole 37 that restricts the movement of the rotation shaft 53 of the pinion portion 52, it is possible to prevent the two from engaging with each other.

Further, in the above embodiment, it has been described that a torsion coil spring and a tension coil spring are used as means for urging the stopper portion 8 and inside the operating lever 84, but these urging means are limited to the coil spring. For example, magnetic deposition by magnetic force may be used, or other means may be used.

Further, in the above embodiment, the operation lever 84 for operating the stopper portion 8 is provided on the lower surface side of the bottom surface portion 31 of the main body portion 3, but it is not assumed that the operation lever 84 is operated by the toes of the toes. It does not have to be on the lower surface side, and may not be provided on the bottom surface portion 31.

1, 2 Wheels 3 Main body 4 Weight 5 Drive 6 Battery 7 Rack 8 Stopper 9 Biasing means 31 Bottom 32, 33 Side wall 34 Penetration 35, 36 Engagement 37 Long hole 41, 42 Rail 43 , 44 Slider 51 Servo motor 52 Pinion part 53 Rotating shaft 81 Stopper part Shaft stop part 82 The other end side of the stopper part 83 Operation end part 84 Operation lever 85 Tip part 86 Protrusion part 90 Shaft part 91 Torsion coil spring 92, 93 End arm A Parallel two-wheeled vehicle

Claims (7)

In a parallel two-wheeled vehicle including two wheels having a sufficiently large diameter arranged in parallel and a main body having a center of gravity at a position lower than the center of rotation of the wheels in the middle of the wheels, the traveling direction of all the wheels. It is a posture stabilizer that has a weight that can move forward and backward mounted on the main body.
The main body portion includes a space portion in which a moving space for the weight is secured.
The space portion is arranged so as to extend in the advancing / retreating direction of the weight, and the rack portion having teeth having a predetermined pitch in the extending direction and at least the movement of the weight in the moving direction are restricted, and the rack It has teeth with the same pitch as the part, and is provided with a stopper part that can change the gap with the rack part.
The weight includes a gear-shaped pinion portion that meshes with the rack portion.
When the gap with respect to the rack portion is shortened, the stopper portion is arranged so that the pinion portion that meshes with the rack portion can mesh with the pinion portion at a position different from that of the rack portion. A posture stabilizer for a parallel two-wheeled vehicle. The parallel two-wheeled vehicle according to claim 1, wherein the pinion portion receives a rotational driving force from a drive source built in the weight and causes the weight to self-propell within a range of meshing with the rack portion. Posture stabilizer. The posture stabilizing device for a parallel two-wheeled vehicle according to claim 1 or 2, wherein the stopper portion is formed in a long rack shape and one end thereof is rotatably supported by an axis. In the stopper portion, the end faces on which the teeth are formed are arranged so as to face the end faces on which the teeth of the rack portion are formed, and the stopper portions rotate in a predetermined direction so that both end faces are parallel to each other. At that time, when the gap between both end faces is expanded by engaging with the teeth of the pinion portion and rotating the stopper portion in the direction opposite to the predetermined direction, the engagement with the teeth of the pinion portion is released. The attitude stabilizing device for a parallel two-wheeled vehicle according to claim 3. The rotation of the stopper portion changes in two states, a position where both end surfaces of the stopper portion and the rack portion are parallel to each other and a position where the stopper portion is angular. The posture stabilizing device for a parallel two-wheeled vehicle according to claim 4, wherein both end surfaces are urged in a angular direction. The main body portion includes a bottom surface portion, the space portion is formed above the bottom surface portion, and the bottom surface portion includes a rail portion that regulates the moving direction of the weight, and the rack. According to claim 4 or 5, the portion is configured to extend in a direction parallel to the rail portion, and the pinion portion is provided on a rotation axis having a direction orthogonal to the bottom surface portion as an axis. Posture stabilizer for the described parallel two-wheeled vehicle. The parallel according to any one of claims 3 to 6, wherein the free end of the stopper portion is provided with an operation lever, and a part or all of the operation lever is provided so as to project outward from the main body portion. Posture stabilizer for two-wheeled vehicles.

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