JP2021175638A - Movable body - Google Patents

Abstract

To provide a movable body which enables movement in a lateral direction (a vehicle width direction) and tilting in a roll direction of a rear wheel relative to a front vehicle body to be performed properly with a simple structure.SOLUTION: A rear wheel support mechanism 20 of a movable body 1A having a front wheel 3f and a rear wheel 3r has: a four node linkage 23 serving as a multi-node linkage which supports the rear wheel 3r on the vehicle body 2 so that the rear wheel 3r can move in a lateral direction of the vehicle body 2 relative to the vehicle body 2 and tilt in a roll direction relative to the vehicle body 2; and an actuator 28 which drives the four node linkage 23.SELECTED DRAWING: Figure 3

Description

The present invention relates to a moving body such as a two-wheeled vehicle.

Conventionally, in a moving body such as a two-wheeled vehicle having front and rear wheels on the front and rear of a vehicle body, for example, as seen in Patent Document 1, the rear frame that supports the rear wheels is rearward from the front frame that supports the front wheels to the rear side. A moving body having a structure in which the rear frame is connected to the front frame has been proposed so that the rear frame can rotate with respect to the front frame around a rotation axis extending diagonally in the downward direction.

This moving body has a wobbling reduction mode that reduces the wobbling of a two-wheeled vehicle at low speeds, and when the vehicle body tilts to the left or right, the rear frame tilts to the opposite side with respect to the front frame. By rotating the vehicle around the rotation axis, a moment is generated in the direction of suppressing the inclination of the vehicle body, and by extension, the wobbling of the vehicle body is reduced.

Japanese Unexamined Patent Publication No. 2006-182091

By the way, in order to effectively prevent the wobbling of a moving body such as a two-wheeled vehicle by tilting the rear wheels (in other words, in effectively generating a moment that suppresses the vehicle body from tilting to the left or right), the rear It is desirable that the wheels not only tilt with respect to the vehicle body on the front side, but also be able to move in the vehicle width direction (left-right direction when the moving body is viewed from the rear) with respect to the vehicle body on the front side.

However, in the moving body described in Patent Document 1, since the rear frame supporting the rear wheels is only connected to the front frame so as to be able to rotate around the rotation axis, the rear wheels are forward. It cannot move in the width direction with respect to the frame.

In addition, in the moving body described in Patent Document 1, since the rotation axis of the rear frame with respect to the front frame extends downward downward, the rear wheels are tilted rearward so as to be tilted to the right with respect to the front frame. When the frame is rotated with respect to the front frame, the rear wheels are steered to the left (counterclockwise when viewed from above). Further, when the rear frame is rotated with respect to the front frame so that the rear wheels are tilted to the left with respect to the front frame, the rear wheels are steered to the right (clockwise when viewed from above).

Therefore, in a moving body as seen in Patent Document 1, when the vehicle body is tilted to the left or right side, if the amount of tilt of the rear wheels to the opposite side is small, the effect of further suppressing the tilt of the vehicle body is unlikely to occur. (It is unlikely that a moment will be generated to suppress further tilting of the vehicle body). As a result, it tends to be difficult to suppress the inclination of the vehicle body with good responsiveness.

The present invention has been made in view of such a background, and a movement capable of appropriately moving the rear wheel in the left-right direction (vehicle width direction) and tilting in the roll direction with respect to the vehicle body on the front side with a simple configuration. The purpose is to provide the body.

The moving body of the present invention includes a vehicle body, front wheels and rear wheels arranged at intervals in the front-rear direction of the vehicle body, a front wheel support mechanism for supporting the front wheels on the vehicle body, and the rear wheels on the vehicle body. It is a moving body provided with a rear wheel support mechanism that supports it.
The rear wheel support mechanism supports the rear wheels on the vehicle body so that the rear wheels can move in the left-right direction of the vehicle body with respect to the vehicle body and tilt in the roll direction with respect to the vehicle body. It is characterized in that it is configured to have a link mechanism and one or more actuators for driving the multi-node link mechanism (first invention).

In the present invention, the "front-rear direction of the vehicle body" is orthogonal to the axles of the front wheels and the rear wheels when the moving body in the straight-ahead traveling posture is viewed from above (when the moving body is projected onto a horizontal plane). Alternatively, it means directions that are almost orthogonal to each other, and "left-right direction of the vehicle body" means that the front wheels and the rear wheels are viewed from above when the moving body in the straight running posture is viewed from above (when the moving body is projected onto a horizontal plane). It means the direction that is parallel to or almost parallel to the axle.

Here, the "moving body in the straight running posture" means a moving body having the same posture as the moving body in the straight running posture. More specifically, the "moving body in a straight running posture" is a state in which the axles of the front wheels and the rear wheels are parallel or substantially parallel to each other, and the front wheels and the rear wheels are upright or substantially perpendicular to the horizontal plane. Means a moving body of. Further, the "front-rear direction of the vehicle body" and the "left-right direction of the vehicle body" may spatially include a direction inclined with respect to the horizontal plane.

Further, the "vertical direction of the vehicle body" means a direction that coincides with or substantially coincides with the vertical direction in the moving body in the straight running posture. Further, the "roll direction" means a direction around an axis extending in the "front-rear direction of the vehicle body".

According to the first invention, by driving the link mechanism with an actuator, the rear wheels can be moved in the left-right direction of the vehicle body and tilted in the roll direction with respect to the vehicle body. ..

As a result, when the moving body is traveling at a low speed, the movement of the rear wheels with respect to the vehicle body (movement and roll in the left-right direction of the vehicle body) is caused by generating a moment in the roll direction so as to suppress the inclination of the vehicle body in the roll direction. It is possible to realize it appropriately by (combined operation with tilting in the direction). Therefore, according to the first invention, it is possible to appropriately move the rear wheels in the left-right direction (vehicle width direction) and tilt in the roll direction with respect to the vehicle body on the front side with a simple configuration.

In the first invention, in the multi-node link mechanism, the rear wheel tilts to the left with respect to the vehicle body while the central portion of the rear wheel moves to the left with respect to the vehicle body by being driven by the actuator. It is preferable that the rear wheel is configured to be able to tilt to the right with respect to the vehicle body while the central portion of the rear wheel moves to the right with respect to the vehicle body (first). 2 inventions).

According to this, by operating the actuator, the combined operation of the left-right movement of the rear wheels with respect to the vehicle body and the tilting in the roll direction is performed as described above. Therefore, it is possible to apply a moment in the roll direction to the vehicle body so as to suppress the inclination of the vehicle body by the above-mentioned combined operation of the rear wheels with respect to the vehicle body with good responsiveness.

In the first invention or the second invention, more specifically, the multi-node link mechanism is arranged so as to extend in the left-right direction of the vehicle body with a space in the vertical direction of the vehicle body. The link and the second link are connected to each of the left end of the first link and the left end of the second link via each of two joints having a rotation axis in the front-rear direction of the vehicle body. The three links and the fourth link connected via each of the two joints having the rotation axis in the front-rear direction of the vehicle body at the right end of the first link and the right end of the second link, respectively. It is a four-section link mechanism equipped with
When the lower link is defined as the first link and the upper link is defined as the second link among the first link and the second link, the rotation axes of the two joints on the left and right of the first link are respectively. The distance between the two joints on the left and right of the second link is set to be smaller than the distance between the axes of rotation of each of the two joints.
One of the first link and the second link is supported by the vehicle body, and the rear wheel is supported by the other (third invention).

According to this, as in the second invention, it is possible to appropriately realize a combined operation of moving the rear wheel in the left-right direction with respect to the vehicle body and tilting in the roll direction with a simple configuration, and also with the second invention. A similar effect can be achieved.

A side view of a moving body (motorcycle) according to the first embodiment of the present invention. The side view of the rear wheel support mechanism provided with the moving body of 1st Embodiment. 3A is a rear view of the rear wheel support mechanism seen from the direction of arrow Y3 in FIG. 2, and FIG. 3B is an operation explanatory view of the rear wheel support mechanism seen from the direction of arrow Y3 in FIG. The side view of the rear wheel support mechanism provided with the moving body of 2nd Embodiment. 5A is a rear view of the rear wheel support mechanism seen from the direction of arrow Y5 in FIG. 4, and FIG. 5B is an operation explanatory view of the rear wheel support mechanism seen from the direction of arrow Y5 in FIG.

[First Embodiment]
The first embodiment of the present invention will be described below with reference to FIGS. 1 to 3B. With reference to FIG. 1, the moving body 1A of the present embodiment is a saddle-mounted two-wheeled vehicle, and the vehicle body 2 having a frame structure and the front wheels 3f of each of the vehicle bodies 2 arranged at intervals in the front-rear direction. And a rear wheel 3r.

Here, in the following description, the "front-rear direction" (or "vehicle length direction") and the "left-right direction" (or "vehicle width direction") of the vehicle body 2 are the straight-ahead traveling postures (the postures during straight-ahead traveling), respectively. When the moving body 1A in the same posture as) is viewed from above (when the moving body 1A is projected onto a horizontal plane), the direction orthogonal to or substantially orthogonal to the axles of the front wheels 3f and the rear wheels 3r and the front wheels 3f And the direction parallel to or substantially parallel to the axle of the rear wheel 3r.

In this case, the "front-rear direction" (or "vehicle length direction") and the "left-right direction" (or "vehicle width direction") of the vehicle body 2 are not limited to the directions parallel to the horizontal plane, but the horizontal plane. It may be in a direction inclined with respect to. More specifically, the straight running posture of the moving body 1A is such that the axles of the front wheels 3f and the rear wheels 3r are parallel or substantially parallel to each other, and the front wheels 3f and the rear wheels 3r are perpendicular or substantially perpendicular to the horizontal plane. This is the posture of the moving body 1A while standing upright.

Further, the "vertical direction" of the vehicle body 2 means a direction that coincides with or substantially coincides with the vertical direction in the moving body 1A in the straight running posture. The meanings of the "front-rear direction" (or vehicle length direction), "left-right direction" (or vehicle width direction), and "vertical direction" of the vehicle body 2 are the same in other embodiments described later.

The vehicle body 2 has a head pipe 2a at its front end, and has an upper body frame 2b extending rearward from the head pipe 2a and a lower side of the upper body frame 2b, downward from the head pipe 2a. It has a lower body frame 2c extending rearward in a convex shape, and a seat 4 on which the driver sits is mounted on the upper body frame 2b. The rear end of the lower body frame 2c is fixed to the upper body frame 2b.

The front wheel 3f is supported by the front portion of the vehicle body 2 via the front wheel support mechanism 10. As the front wheel support mechanism 10, for example, one having the same structure as the front wheel support mechanism of a normal motorcycle can be adopted. The front wheel support mechanism 10 of the illustrated example has, for example, a front fork 11 including a damper (not shown), and the front wheel 3f is pivotally supported at the lower end of the front fork 11 via the front wheel side axle unit 12.

The front fork 11 is assembled to the vehicle body 2 so that it can rotate together with the front wheels 3f around the axis of the head pipe 2a of the vehicle body 2. Then, when the driver operates the handle 13 assembled on the upper side of the head pipe 2a, the handle 13 is attached to the front fork 11 so that the front fork 11 rotates around the axis of the head pipe 2a together with the front wheels 3f. It is connected. As a result, the front wheels 3f can be steered by operating the steering wheel 13.

The rear wheels 3r are supported by the rear portion of the vehicle body 2 via the rear wheel support mechanism 20. The rear wheel support mechanism 20 is configured so that the rear wheels 3r can swing in the pitch direction (the direction around the axis in the left-right direction (vehicle width direction) of the vehicle body 2) with respect to the vehicle body 2, and the rear wheels 3r are rear. It is configured so that the wheel 3r can be tilted with respect to the vehicle body 2 in the roll direction (direction around the axis in the front-rear direction (vehicle length direction) of the vehicle body 2) and can be moved in the left-right direction with respect to the vehicle body 2. ing.

The configuration of the rear wheel support mechanism 20 will be specifically described below with reference to FIGS. 2 and 3A. Note that FIG. 3A is a view of the rear wheel support mechanism 20 viewed in the direction of the arrow Y3 shown in FIG. In this case, the direction of the arrow Y3 is a direction parallel to the direction of the rotation axis of the joints 25a to 25d, which will be described later.

The rear wheel support mechanism 20 includes a swing arm 21 and a four-node link mechanism 23 as an example of a multi-node link mechanism. The swing arm 21 is pivotally supported by the vehicle body 2 (for example, the rear portion of the lower vehicle body frame 2c) so that the swing arm 21 can swing in the pitch direction with respect to the vehicle body 2. Then, the bearing portion 21a projecting from the intermediate portion between the front end portion and the rear end portion of the swing arm 21 and the portion near the upper end of the rear portion of the lower body frame 2c (or the upper body frame 2b) are formed. It is connected via a damper 22 that brakes the swing of the swing arm 21 with respect to the vehicle body 2.

The four-section link mechanism 23 includes a first link 24a and a second link 24b arranged so as to extend in the left-right direction of the vehicle body 2 at intervals in the vertical direction of the vehicle body 2, and the first link 24a and the first link 24a. It includes four links 24a to 24d, a third link 24c connecting the left end portions of the two links 24b and a fourth link 24d connecting the right end portions of the first link 24a and the second link 24b. ..

In this case, the connection between the third link 24c and the first link 24a, the connection between the third link 24c and the second link 24b, the connection between the fourth link 24d and the first link 24a, and the connection between the fourth link 24d and the second link 24d. The connection with the link 24b is made via the joints 25a, 25b, 25c, 25d having the rotation axis in the front-rear direction of the vehicle body 2, respectively.

Therefore, the third link 24c is connected to the first link 24a so as to be able to rotate relative to the rotation axis of the joint 25a, and is connected to the second link 24b around the rotation axis of the joint 25b. They are connected so that they can rotate relative to each other. Further, the fourth link 24d is connected to the first link 24a so as to be able to rotate relative to the rotation axis of the joint 25c, and is connected to the second link 24b around the rotation axis of the joint 25d. They are connected so that they can rotate relative to each other.

In the present embodiment, the directions of the axes of rotation of the joints 25a to 25d are, more specifically, the front-rear direction of the vehicle body 2 and, for example, the horizontal or substantially horizontal direction in the moving body 1A in the straight running posture. However, the direction of the rotation axis of the joints 25a to 25d in the moving body 1A in the straight running posture may be a direction that is inclined forward or backward with respect to the horizontal plane.

Further, as shown in FIG. 3A, in the present embodiment, the distance Da between the respective rotation axes of the joints 25a and 25c at both ends of the first link 24a and the joints 25b at both ends of the second link 24b, The distance Db between the respective rotation axes of 25d is set so that Da <Db. Then, the rear end portion of the swing arm 21 is fixed to one of the first link 24a and the second link 24b, for example, the lower first link 24a. As a result, the entire four-section link mechanism 23 can swing in the pitch direction with respect to the vehicle body 2 together with the swing arm 21.

Further, the rear wheels 3r are attached to the rear ends of the support arms 26a and 26b extending rearward from the upper second link 24b of the first link 24a and the second link 24b via the rear wheel side axle unit 27. It is pivotally supported. The rear wheel support mechanism 20 shown in FIG. 3A includes a pair of left and right support arms 26a and 26b, but only one of the support arms 26a or 26b may be provided.

The four-node link mechanism 23 is assembled with an actuator 28 for causing relative rotation between the links connected by the joints 25a to 25d. In the present embodiment, an actuator 28 that rotationally drives a third link 24c with respect to the first link 24a around the rotation axis of the joint 25a is provided on one of the four joints 25a to 25d, for example, the joint 25a. It is installed.

The actuator 28 is composed of, for example, an electric motor with a speed reducer. In this case, the housing of the electric motor as the actuator 28 is fixed to one of the first link 24a and the third link 24c (for example, the first link 24a in FIG. 2), and the output shaft is the first link 24a and the third link 24c. It is fixed to the other side (for example, the third link 24c in FIG. 2).

As a result, by operating the actuator 28, the third link 24c is rotationally driven around the rotation axis of the joint 25a with respect to the first link 24a, and by extension, the links connected by the joints 25a to 25d are relative to each other. The rotations are interlocked with each other (see FIG. 3B).

The actuator 28 for driving the four-section link mechanism 23 is not limited to the electric motor, and may be, for example, a hydraulic actuator. It is also possible to use a linear actuator instead of the rotary actuator 28.

The rear wheel support mechanism 20 of the present embodiment includes a swing arm 21, a damper 22, a four-bar link mechanism 23, an actuator 28, and support arms 26a and 26b as described above. In this case, the rear wheels 3r can swing in the pitch direction with respect to the vehicle body 2 due to the swing of the swing arm 21 with respect to the vehicle body 2 in the pitch direction.

Further, by operating the actuator 28, the relative rotation of the links connected by the joints 25a to 25d of the four-node link mechanism 23 is performed in conjunction with each other. As a result, as illustrated in FIG. 3B, the rear wheels 3r tilt in the roll direction with respect to the vehicle body 2 and move laterally with respect to the vehicle body 2.

In this case, as described above, the distance Da between the rotation axes of the joints 25a and 25c of the four-node link mechanism 23 and the distance Db between the rotation axes of the joints 25b and 25d are Da <. The rear wheels 3r are set to be Db, and the rear wheels 3r are pivotally supported at the rear ends of the support arms 26a and 26b extending from the second link 24b via the rear wheel side axle unit 27.

Therefore, when the actuator 28 is operated so as to tilt the rear wheel 3r to the right side of the vehicle body 2, the rear wheel 3r is on the right side with respect to the vehicle body 2 (as viewed from the rear of the moving body 1A) as illustrated in FIG. 3B. While tilting (clockwise), it moves to the right with respect to the vehicle body 2. Further, when the actuator 28 is operated so as to tilt the rear wheel 3r to the left side of the vehicle body 2, the rear wheel 3r is counterclockwise to the left side with respect to the vehicle body 2 (counterclockwise when viewed from the rear of the moving body 1A), contrary to the above. While tilting (in the clockwise direction), it moves to the left with respect to the vehicle body 2.

Supplementally, although the tilting of the rear wheels 3r with respect to the vehicle body 2 in the roll direction is not performed around a single tilt center axis, in the moving body 1A of the present embodiment having the four-node link mechanism 23 as described above. , The wheel width center surface of the rear wheels 3r in the moving body 1A in the straight running posture (a plane passing through the center of the rear wheels 3r and orthogonal to the axle of the rear wheels 3r) and the rear wheels 3r in the roll direction with respect to the vehicle body 2. An intersection line (pseudo tilting center axis) of the rear wheels 3r with the wheel width center surface in a state of being tilted to extends in the front-rear direction of the vehicle body 2 through the lower side of the ground contact surface of the rear wheels 3r. ..

Further, although not shown, the moving body 1A is also equipped with a traveling actuator as a power source for traveling. The traveling actuator may be composed of, for example, an electric motor mounted on the front wheel side axle unit 12 or the rear wheel side axle unit 27 so as to rotationally drive the front wheels 3f or the rear wheels 3r. Alternatively, for example, an electric motor, a hydraulic motor, an internal combustion engine, or the like is mounted on the vehicle body 2 as a traveling actuator, and a rotational driving force is transmitted from the traveling actuator to the front wheels 3f or the rear wheels 3r via an appropriate power transmission mechanism. It may be possible.

In the moving body 1A of the present embodiment described above, the operation control of the actuator 28 is not shown so as to suppress the inclination of the vehicle body 2 in the roll direction when the moving body 1A is stopped or running at a low speed. Is done by.

For example, when the vehicle body 2 is tilted to the left from an upright posture (a posture in which the vertical direction of the vehicle body 2 coincides with or almost coincides with the vertical direction) (when the vehicle body 2 tilts counterclockwise when viewed from the rear of the moving body 1A). ), The actuator 28 is controlled so that the rear wheels 3r are tilted to the right with respect to the vehicle body 2. At this time, the rear wheels 3r are tilted to the right with respect to the vehicle body 2 and move to the right with respect to the vehicle body 2, so that a moment in the direction of returning the vehicle body 2 to the standing posture is generated with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the left.

When the vehicle body 2 is tilted to the right from the standing posture (when the vehicle body 2 is tilted clockwise when viewed from the rear of the moving body 1A), the actuator 28 causes the rear wheels 3r to be on the left side with respect to the vehicle body 2. It is controlled to tilt to. At this time, the rear wheels 3r are tilted to the left with respect to the vehicle body 2 and move to the left with respect to the vehicle body 2, so that a moment in the direction of returning the vehicle body 2 to the standing posture is generated with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the right.

In addition, in the present embodiment, the support arms 26a and 26b that pivotally support the rear wheels 3r via the rear wheel side axle unit 27 extend from the upper second link 24b of the first link 24a and the second link 24b. As can be seen by comparing FIGS. 3A and 3B, the height of the seat 4 (height from the road surface) is such that the smaller the inclination of the rear wheels 3r with respect to the vehicle body 2 (roll direction of the vehicle body 2). The closer the posture is to the standing posture), the lower the posture. Therefore, the vehicle body 2 can easily return to the standing posture. Therefore, according to the moving body 1A of the present embodiment, it is possible to appropriately prevent the vehicle body 2 from tilting in the roll direction when the vehicle is stopped or when the vehicle is traveling at a low speed.

[Second Embodiment]
Next, a second embodiment of the present invention will be described below with reference to FIGS. 4 to 5B. In the present embodiment, the same reference numerals as those in the first embodiment are used for the same components as those in the first embodiment, and detailed description of the same items as in the first embodiment will be omitted.

With reference to FIGS. 4 and 5A, in the moving body 1B of the present embodiment, only a part of the configuration of the rear wheel support mechanism 30 is different from that of the first embodiment. Specifically, in the present embodiment, the rear wheel support mechanism 30 includes a three-bar link mechanism 33 and two actuators 38a and 38b for driving the three-bar link mechanism 33 instead of the four-bar link mechanism 23 and the actuator 28. There is. Note that FIG. 5A is a view of the rear wheel support mechanism 30 viewed in the direction of arrow Y5 shown in FIG. In this case, the direction of the arrow Y5 is a direction parallel to the direction of the rotation axis of the joints 35a and 35b, which will be described later.

The three-section link mechanism 33 is connected to the first link 34a extending in the left-right direction of the vehicle body 2 and one end of the left and right ends of the first link 34a, for example, the left end via a joint 35a. A second link 34b and a third link 34c connected to the end of the second link 34b on the opposite side of the joint 35a via the joint 35b are provided. The joints 35a and 35b have a rotation axis in the front-rear direction of the vehicle body 2 like the joints 25a to 25d of the four-node link 23.

Therefore, the second link 34b is connected so as to be able to rotate relative to the first link 34a in the direction around the rotation axis of the joint 35a, and is connected to the third link 34c around the rotation axis of the joint 35b. They are connected so that they can rotate relative to each other in the direction of.

The directions of the rotation axes of the joints 35a and 35b are the front-rear direction of the vehicle body 2 and the moving body in the straight running posture, as in the joints 25a to 25d of the four-node link mechanism 23 of the first embodiment. In 1B, for example, the horizontal or almost horizontal direction. However, the direction of the rotation axis of the joints 35a and 35b in the moving body 1B in the straight running posture may be a direction that is inclined forward or backward with respect to the horizontal plane.

Further, the rear wheel support mechanism 30 of the present embodiment has a swing arm 21 pivotally supported by the vehicle body 2 so as to be able to swing in the pitch direction with respect to the vehicle body 2, and a damper that brakes the swing of the swing arm 21. 22 is provided in the same manner as in the first embodiment. The rear end of the swing arm 21 is fixed to the first link 34a. As a result, the entire three-section link mechanism 33 can swing in the pitch direction with respect to the vehicle body 2 together with the swing arm 21.

Further, in the rear wheel support mechanism 30 of the present embodiment, the support arm 26 connecting the three-section link mechanism 33 and the rear wheel 3r extends rearward from the third link 34c, and the rear end of the support arm 26 The rear wheels 3r are pivotally supported on the portion via the rear wheel side axle unit 27. The rear wheel support mechanism 30 shown in FIG. 5A includes only one support arm 26 on the left side of the rear wheels 3r, but a support arm may be provided on the right side of the rear wheels 3r, or the rear wheels may be provided. A pair of support arms may be provided on both the left and right sides of the ring 3r.

Of the two actuators 38a and 38b that drive the three-section link mechanism 33, the actuator 38a is an actuator that rotates the second link 34b relative to the first link 34a, and the actuator 38b is a third actuator with respect to the second link 34b. It is an actuator 38b that relatively rotates the link 34c. Each of these actuators 38a and 38b is composed of, for example, an electric motor equipped with a speed reducer, and is attached to the joints 35a and 35b, respectively.

In this case, the housing of the electric motor as the actuator 38a is fixed to one of the first link 34a and the second link 34b (for example, the first link 34a in FIG. 4), and the output shaft is the first link 34a and the second link 34b. It is fixed to the other side (for example, the second link 34b in FIG. 4). As a result, by operating the actuator 38a, the second link 34b is rotationally driven around the rotation axis of the joint 35a with respect to the first link 34a.

Further, the housing of the electric motor as the actuator 38b is fixed to one of the second link 34b and the third link 34c (for example, the third link 34c in FIG. 4), and the output shaft is the other of the second link 34b and the third link 34c. (In FIG. 4, for example, the second link 34b) is fixed. As a result, by operating the actuator 38b, the third link 34c is rotationally driven around the rotation axis of the joint 35b with respect to the second link 34b.

The actuators 38a and 38b for driving the three-section link mechanism 33 are not limited to the electric motor, and may be, for example, a hydraulic actuator. It is also possible to use a linear actuator instead of the rotary actuators 38a and 38b, respectively.

The rear wheel support mechanism 30 of the present embodiment includes a swing arm 21, a damper 22, a three-bar link mechanism 33, actuators 38a and 38b, and a support arm 26 as described above. The mobile body 1B of the present embodiment has the same configuration as that of the first embodiment except for the items described above.

In the moving body 1B of the present embodiment, the actuators 38a and 38b have the rotation angle of the joint 35a (relative rotation angle between the first link 34a and the second link 34b) and the rotation angle of the joint 35b (second link 34b). The rear wheel 3r is controlled by a control device (not shown) so as to tilt the rear wheel 3r according to the inclination of the vehicle body 2 while maintaining the relative rotation angle between the third link 34c and the third link 34c) in a predetermined correlation.

Specifically, in the present embodiment, the relative rotation angle between the first link 34a and the second link 34b and the relative rotation angle between the second link 34b and the third link 34c are the first embodiment. The relationship between the relative rotation angle between the first link 24a and the third link 24c of the four-bar link mechanism 23 of the embodiment and the relative rotation angle between the third link 24c and the second link 24b is maintained. The operation of the actuators 38a and 38b is controlled so as to be performed.

Then, when the moving body 1B is stopped or traveling at a low speed, the operation of the actuators 38a and 38b is controlled so as to suppress the inclination of the vehicle body 2 in the roll direction in the same manner as in the first embodiment. That is, when the vehicle body 2 is tilted to the left from the standing posture, the actuators 38a and 38b move the rear wheels 3r to the right while tilting to the right with respect to the vehicle body 2 in the same manner as in the first embodiment. Is controlled.

More specifically, the relative rotation angle between the first link 34a and the second link 34b of the three-section link mechanism 33 and the relative rotation angle between the second link 34b and the third link 34c are set to the first. In the embodiment, when the rear wheel 3r is tilted to the right with respect to the vehicle body 2, the relative rotation angle between the first link 24a and the third link 24c of the four-bar link mechanism 23, and the third link 24c and the second link 24b. The actuators 38a and 38b are controlled so as to change in the same manner as the relative rotation angle between and. As a result, the vehicle body 2 is quickly prevented from further tilting to the left.

When the vehicle body 2 is tilted to the right from the standing posture, the actuators 38a and 38b move the rear wheels 3r to the left while tilting to the left with respect to the vehicle body 2 in the same manner as in the first embodiment. Is controlled.

More specifically, the relative rotation angle between the first link 34a and the second link 34b of the three-section link mechanism 33 and the relative rotation angle between the second link 34b and the third link 34c are set to the first. In the embodiment, when the rear wheel 3r is tilted to the left with respect to the vehicle body 2, the relative rotation angle between the first link 24a and the third link 24c of the four-bar link mechanism 23, and the third link 24c and the second link 24b. The actuators 38a and 38b are controlled so as to change in the same manner as the relative rotation angle between and. As a result, the vehicle body 2 is quickly prevented from further tilting to the right.

In addition, also in this embodiment, the height of the seat 4 (height from the road surface) can be lowered as the inclination of the rear wheels 3r with respect to the vehicle body 2 is smaller. Therefore, the vehicle body 2 can easily return to the standing posture. Therefore, according to the moving body 1B of the present embodiment, it is possible to appropriately prevent the vehicle body 2 from tilting in the roll direction when the vehicle is stopped or when the vehicle is traveling at a low speed.
[Other Embodiments]

The present invention is not limited to the first embodiment and the second embodiment described above, and other embodiments may be adopted. Some other embodiments will be briefly described below. In the first embodiment, the swing arm 21 is fixed to the first link 24a of the four-bar linkage mechanism 23, and the support arm 26 is fixed to the second link 24b of the four-bar link mechanism 23, instead of being fixed to the swing arm 21. May be fixed to the second link 24b, and the support arm 26 may be fixed to the first link 24a.

Similarly, in the second embodiment, instead of fixing the swing arm 21 to the first link 34a of the three-bar linkage mechanism 33 and fixing the support arm 26 to the third link 34c of the three-bar link mechanism 33, the swing arm 21 may be fixed to the third link 34c, and the support arm 26 may be fixed to the first link 34a.

In the first embodiment and the second embodiment, as described above, the height of the seat 4 can be lowered as the rear wheels 3r are tilted from the standing posture. Therefore, when the vehicle body 2 is tilted to the right or left while the driver is seated on the seat 4, it becomes easy for the driver's foot to land on the road surface.

Further, in the first embodiment or the second embodiment, the swing arm 21 is provided between the four-section link mechanism 23 or the three-section link mechanism 33 and the vehicle body 2, but for example, the four-section link mechanism in the first embodiment is provided. The first link 24a (or the second link 24b) of the 23 is fixed to the vehicle body 2, and the front ends of the support arms 26a and 26b are swung in the pitch direction with respect to the second link 24b (or the first link 24a). It may be pivotally supported to obtain. Then, a damper for braking the swing of the support arms 26a and 26b in the pitch direction may be interposed between the second link 24b (or the first link 24a) and the support arms 26a and 26b.

Similarly, the first link 34a (or the third link 34c) of the three-section link mechanism 33 in the second embodiment is fixed to the vehicle body 2, and the front end portion of the support arm 26 is fixed to the third link 34c (or the first link 34a). It may be pivotally supported so that it can swing in the pitch direction. Then, a damper for braking the swing of the support arm 26 in the pitch direction may be interposed between the third link 34c (or the first link 34a) and the support arm 26.

1A, 1B ... moving body, 2 ... vehicle body, 3f ... front wheel, 3r ... rear wheel, 20, 30 ... rear wheel support mechanism, 23 ... four-joint link mechanism (multi-joint link mechanism), 24a ... first link, 24b ... 2nd link, 24c ... 3rd link, 24d ... 4th link, 25a, 25b, 25c, 25d ... joint, 28 ... actuator, 33 ... three-node link mechanism (multi-node link mechanism), 38a, 38b ... actuator.

For example, when the vehicle body 2 is tilted to the left from an upright posture (a posture in which the vertical direction of the vehicle body 2 coincides with or almost coincides with the vertical direction) (when the vehicle body 2 tilts counterclockwise when viewed from the rear of the moving body 1A). ), The actuator 28 is controlled so that the rear wheels 3r are tilted to the left with respect to the vehicle body 2. At this time, the rear wheels 3r are tilted to the left with respect to the vehicle body 2 and move to the left with respect to the vehicle body 2, so that a moment in the direction of returning the vehicle body 2 to the standing posture is generated with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the left.

When the vehicle body 2 is tilted to the right from the standing posture (when the vehicle body 2 is tilted clockwise when viewed from the rear of the moving body 1A), the actuator 28 sets the rear wheels 3r to the right side with respect to the vehicle body 2. It is controlled to tilt to. At this time, the rear wheels 3r are tilted to the right with respect to the vehicle body 2 and move to the right with respect to the vehicle body 2, so that a moment in the direction of returning the vehicle body 2 to the standing posture is generated with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the right.

Then, when the moving body 1B is stopped or traveling at a low speed, the operation of the actuators 38a and 38b is controlled so as to suppress the inclination of the vehicle body 2 in the roll direction in the same manner as in the first embodiment. That is, when the vehicle body 2 is tilted to the left from the standing posture, the actuators 38a and 38b move the rear wheels 3r to the left while tilting to the left with respect to the vehicle body 2 in the same manner as in the first embodiment. Is controlled.

More specifically, the relative rotation angle between the first link 34a and the second link 34b of the three-section link mechanism 33 and the relative rotation angle between the second link 34b and the third link 34c are set to the first. In the embodiment, when the rear wheel 3r is tilted to the left with respect to the vehicle body 2, the relative rotation angle between the first link 24a and the third link 24c of the four-bar link mechanism 23, and the third link 24c and the second link 24b. The actuators 38a and 38b are controlled so as to change in the same manner as the relative rotation angle between and. As a result, the vehicle body 2 is quickly prevented from further tilting to the left.

When the vehicle body 2 is tilted to the right from the standing posture, the actuators 38a and 38b move the rear wheels 3r to the right while tilting to the right with respect to the vehicle body 2 in the same manner as in the first embodiment. Is controlled.

More specifically, the relative rotation angle between the first link 34a and the second link 34b of the three-section link mechanism 33 and the relative rotation angle between the second link 34b and the third link 34c are set to the first. In the embodiment, when the rear wheel 3r is tilted to the right with respect to the vehicle body 2, the relative rotation angle between the first link 24a and the third link 24c of the four-bar link mechanism 23, and the third link 24c and the second link 24b. The actuators 38a and 38b are controlled so as to change in the same manner as the relative rotation angle between and. As a result, the vehicle body 2 is quickly prevented from further tilting to the right.

Claims (3)

A vehicle body, front wheels and rear wheels arranged at intervals in the front-rear direction of the vehicle body, a front wheel support mechanism for supporting the front wheels on the vehicle body, and a rear wheel support mechanism for supporting the rear wheels on the vehicle body. It is a mobile body equipped with
The rear wheel support mechanism supports the rear wheels on the vehicle body so that the rear wheels can move in the left-right direction of the vehicle body with respect to the vehicle body and tilt in the roll direction with respect to the vehicle body. A moving body characterized by having a link mechanism and one or more actuators for driving the multi-node link mechanism. In the moving body according to claim 1,
In the multi-node link mechanism, the rear wheels are tilted to the left with respect to the vehicle body while the central portion of the rear wheels is moved to the left with respect to the vehicle body by being driven by the actuator. The moving body is configured so that the rear wheel can tilt to the right with respect to the vehicle body while the central portion of the moving body moves to the right with respect to the vehicle body. In the moving body according to claim 1 or 2.
The multi-joint link mechanism includes a first link and a second link arranged so as to extend in the left-right direction of the vehicle body at intervals in the vertical direction of the vehicle body, and a left end portion of the first link and the left end portion of the first link. A third link connected via each of two joints having a rotation axis in the front-rear direction of the vehicle body to each of the left end portions of the second link, a right end portion of the first link, and the second link. It is a four-node link mechanism including a fourth link connected via each of two joints having a rotation axis in the front-rear direction of the vehicle body at each of the right end portions of the link.
When the lower link is defined as the first link and the upper link is defined as the second link among the first link and the second link, the rotation axes of the two joints on the left and right of the first link are respectively. The distance between the two joints on the left and right of the second link is set to be smaller than the distance between the axes of rotation of each of the two joints.
A moving body characterized in that one of the first link and the second link is supported by the vehicle body, and the rear wheel is supported by the other.

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