JP5151779B2 - Coaxial motorcycle - Google Patents

Description

  The present invention relates to a coaxial two-wheeled vehicle having two wheels arranged on the same axis, and more particularly to a coaxial two-wheeled vehicle on which a person gets on and performs a traveling operation.

  An example of a conventional coaxial two-wheel vehicle is disclosed in Patent Document 1. This Patent Document 1 describes a vehicle structure of a coaxial two-wheeled vehicle, and various vehicle structures on which a user gets in a standing position are proposed.

  Patent Document 2 discloses a configuration example of a coaxial two-wheeled vehicle that does not have a handle. In the coaxial two-wheeled vehicle disclosed in this document, a boarding base that can tilt in the front-rear and left-right directions is disposed at the upper part of the vehicle body. Weight shift is detected based on the front and rear and left and right inclination angles of the boarding platform, and forward / reverse control and turning control are performed.

Patent Document 3 describes a technique related to a vehicle body structure of a coaxial two-wheeled vehicle. In Patent Document 3, a vehicle is provided with left and right divided steps that can rotate in the roll axis direction and a handle that changes the posture of the divided steps, so that when the coaxial two-wheeled vehicle turns, it can be moved laterally by the action of centrifugal force. The problem of falling is solved. Further, Patent Document 1 discloses a type of coaxial two-wheeled vehicle that is operated by movement of a leg portion in addition to a type in which a passenger operates with a hand and arm as a handle structure (FIGS. 22 to 24 of Patent Document 1). reference).
Special table 2003-502002 gazette Japanese Patent Laid-Open No. 2005-94898 JP 2006-315666 A

  In the vehicle disclosed in Patent Document 1, no consideration is given to the portability of the vehicle when it is not in the vehicle, and there are problems in terms of outer diameter and weight for the user to carry.

  The coaxial two-wheeled vehicle disclosed in Patent Document 2 can solve the problem of Patent Document 1 in that it does not hinder the passenger's danger avoidance operation by not having a handle. However, in this coaxial two-wheeled vehicle, the vehicle body does not have a place to receive the weight and force of the passenger other than the boarding table that generates the turn command. It is highly likely that the operability will be reduced. Further, since the influence of the centrifugal force applied to the passenger during the turn travel is directly reflected in the turn command of the vehicle, it is considered difficult to realize a speedy turn operation as intended. On the other hand, Patent Document 3 proposes a vehicle capable of canceling the influence of centrifugal force and realizing an intuitive turning operation by using the inclination angle of the turning operation unit having a degree of freedom in the roll direction as a turning command. However, portability was not considered.

  Thus, a vehicle body structure that achieves both vehicle handling and portability in a coaxial two-wheeled vehicle has not been proposed so far.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a coaxial two-wheeled vehicle that can achieve both the maneuverability and portability of the vehicle.

  A coaxial two-wheeled vehicle according to the present invention is a coaxial two-wheeled vehicle that has a turning operation unit that is rotatably attached to a vehicle body main body in a roll direction, and realizes turning by tilting the turning operation unit in the roll direction. The lower end of the turning operation unit is supported by the vehicle body body so as to be rotatable about a rotation axis. When the coaxial two-wheeled vehicle is transported, the turning operation unit is rotated and folded in a direction in contact with the vehicle body body. It is a state. At this time, typically, the lower end of the turning operation unit is supported at the front portion of the vehicle body so as to be rotatable about a rotation axis parallel to the pitch axis.

  Here, it is preferable to provide a transport grip that can be gripped by one user with one hand when transporting the coaxial two-wheeled vehicle at the upper end of the turning operation unit.

  Further, in the folded state, the transport grip is preferably separated from the vehicle body main body to the rear side.

  In the folded state, it is preferable that the position of the center of gravity of the coaxial two-wheeled vehicle is disposed on a vertical line drawn from the position of the transport grip to the ground.

  Furthermore, when transporting the coaxial two-wheeled vehicle, it is preferable to have a fixing mechanism that fixes the turning operation unit to the vehicle body.

  In addition, it is desirable that the turning operation unit be provided with an operation means that can operate a fixing operation by a fixing mechanism with a finger while holding the transport grip.

  Moreover, it is preferable that the said turning operation part has a ring shape, and the holding part is formed in a part of the said ring shape.

  At this time, when carrying the coaxial two-wheeled vehicle, it is desirable that a part of the vehicle body is fitted inside the ring shape.

  It is good to provide the conveyance grip which protrudes from a part of said vehicle body main body, and a user can hold | grip with one hand when conveying the said coaxial two-wheeled vehicle.

  Here, it is desirable that the position of the center of gravity of the coaxial two-wheeled vehicle is disposed on a perpendicular line drawn from the position of the transport grip to the ground.

In the folded state, it is desirable that the transport grip protrudes outward through a ring-shaped inner side provided in the turning operation unit.
Furthermore, the transport grip preferably has a T-shape.

  The transport grip is preferably held so as to be movable in a direction away from the vehicle body.

  It is desirable that the transport grip moves in a direction away from the vehicle body in accordance with a lifting operation by a user.

In addition, it is preferable to include a power switch that switches on and off in conjunction with rotation when the turning operation unit rotates around a rotation axis provided at a lower end of the turning operation unit.
Typically, when the turning operation unit rotates and is in a folded state, the power switch is turned off.

Furthermore, it is good to provide the attitude | position calculation switch which switches an on-off state in conjunction with rotation, when the said turning operation part rotates around the rotating shaft provided in the lower end of the said turning operation part.
Typically, when the turning operation unit rotates and is in a folded state, the posture calculation switch is turned off.

  Further, when the turning operation unit rotates around the rotation axis provided at the lower end of the turning operation unit, a power switch that switches on and off in conjunction with the rotation, and the turning operation unit around the rotation axis. An attitude calculation switch that switches on and off in conjunction with the rotation, and when the turning operation unit is rotated from the folded state to the unfolded state, the power switch is turned on, It is desirable to switch the attitude calculation switch to the on state.

  The turning operation unit is disposed between the legs of the occupant and has a structure that is unconstrained with respect to the movement of the legs in the front-rear direction of the vehicle. It is desirable that the turning operation is performed in contact with the legs of the passenger.

  Moreover, it is preferable that the said turning operation part contacts a passenger in the calf pad part arrange | positioned at the height of a passenger's calf.

  Further, the turning operation unit has a telescopic mechanism that expands and contracts in the longitudinal direction, and has a length that allows the turning operation unit to be operated by a passenger's hand and a length that allows the turning operation unit to be operated by a passenger's leg. It is preferable that it can be set by the expansion / contraction mechanism.

  In addition, it is preferable that the turning operation unit includes an expansion / contraction mechanism that expands and contracts in a longitudinal direction, and includes a unit that unlocks the rotation around the rotation axis when the rotation operation unit is set to be short by the expansion / contraction mechanism. .

  ADVANTAGE OF THE INVENTION According to this invention, the coaxial two-wheeled vehicle which can make vehicle controllability and portability compatible can be provided.

  The configuration of the coaxial two-wheeled vehicle according to the present embodiment will be described using the perspective view shown in FIG. In the present specification, the pitch axis is an axis corresponding to the axle of the pair of wheels 13L, 13R, the roll axis is an axis that passes through the center of the vehicle body 12 and is parallel to the traveling direction of the vehicle, The yaw axis is an axis that passes through the center of the vehicle body 12 and is perpendicular to the road surface on which the vehicle travels.

  The coaxial two-wheel vehicle 10 includes a vehicle body 12, wheels 13 </ b> L and 13 </ b> R, wheel drive units 14 </ b> L and 14 </ b> R, and a turning operation unit 15.

  FIG. 1 is an external perspective view of a coaxial two-wheeled vehicle according to the present embodiment. The coaxial two-wheel vehicle 10 includes a vehicle body 12, wheels 13 </ b> L and 13 </ b> R, wheel drive units 14 </ b> L and 14 </ b> R, and a turning operation unit 15.

  The turning operation unit 15 has a ring shape, and is supported at the lower end thereof so as to be rotatable about a rotation axis parallel to the roll direction and the pitch axis with respect to the vehicle body 12. The turning operation can be performed by tilting the turning operation unit 15 in the roll direction. Further, the turning operation unit 15 can be folded by rotating the turning operation unit 15 around the rotation axis parallel to the pitch axis in a direction in contact with the vehicle body 12. The turning operation unit 15 is integrally formed with calf pad portions 151L and 151R, a transport grip 152, a lower connection portion 153, and quick levers 154L and 154R.

  The calf pad portions 151L and 151R are disposed at positions that come into contact with the respective calves of the passenger from the inside. The calf pad portions 151L and 151R extend in the front-rear direction in a state where the passenger gets on.

  The transport grip 152 is an upper connecting member that connects the calf pad portions 151L and 151R above the calf pad portions 151L and 151R, and is integrally formed with the calf pad portions 151L and 151R. The transport grip 152 functions as a grip portion, that is, a handle when transporting the coaxial two-wheeled vehicle 10. The user grips the transport grip 152 with one hand and transports the coaxial two-wheeled vehicle 10.

  The lower connecting portion 153 is a member that connects the calf pad portions 151L and 151R on the lower side, and is integrally formed with the calf pad portions 151L and 151R. The lower connecting portion 153 extends obliquely forward and downward from one end of each of the calf pad portions 151L and 151R extending in the front-rear direction in a state where the passenger gets on, and is connected in the vicinity of the vehicle body 12. It is a U-shaped member. At the lower end of the lower connecting portion 153, the vehicle body 12 is supported by the vehicle body 12 so as to be rotatable about a rotation axis parallel to the roll direction and the pitch axis.

  The quick levers 154L and 154R are members that protrude inward from the inner side surfaces of the calf pad portions 151L and 151R and are used when the vehicle is folded.

  The grounding part 51 a is at the lower end of the turning operation part 15. The grounding portions 51b and 51c are columnar projecting portions provided so as to project from the front surface of the vehicle main body 12, respectively.

  The vehicle body 12 supports the turning operation unit 15 so as to be rotatable in the roll direction. The vehicle body 12 is also provided with control means for controlling the rotational drive of the wheels 13L, 13R by the wheel drive units 14L, 14R according to the tilt of the turning operation unit 15 in the roll direction.

  The pair of wheels 13L and 13R are coaxially arranged on both sides in the direction orthogonal to the traveling direction of the vehicle body 12 and are rotatably supported by the vehicle body 12.

  The wheel drive units 14L and 14R are wheel drive means for independently rotating the pair of wheels 13L and 13R.

  Two step portions 11L and 11R are provided on the left and right sides of the turning operation portion 15 on the upper surface of the vehicle body 12. The step portions 11L and 11R are to be boarded by the rider one by one, and are composed of a pair of plates that are formed to be approximately the same size as or slightly larger than the size of the human foot sole.

  The vehicle body 12 has a parallel link structure described in Patent Document 3. This structure will be specifically described with reference to FIG.

  The vehicle body 12 is arranged in parallel with each other on the vehicle body upper member 16 and the vehicle body lower member 17, and is arranged on the left and right in parallel with each other and can rotate with the vehicle body upper member 16 and the vehicle body lower member 17. And a pair of side surface members 18L and 18R connected to each other. A spring is provided between the vehicle body upper member 16 and the vehicle body lower member 17 of the parallel link mechanism so that the angles formed by the vehicle body upper member 16 and the vehicle body lower member 17 and the pair of side surface members 18L and 18R are maintained at right angles. A pair of coil springs 19L and 19R that generate force are interposed.

  The vehicle body upper member 16 and the vehicle body lower member 17 are formed so as to protrude in the longitudinal direction at the four corners of each of the housing portions 16a and 17a and the substantially rectangular housing portions 16a and 17a opened on the lower surface side. Four bearing portions 16b and 17b, and a pair of spring receiving portions 16c and 16c and 17c and 17c formed so as to protrude to the mating member side, respectively. The length of the vehicle body upper member 16 and the vehicle body lower member 17 in the left-right direction, which is the vehicle width direction, is set to the same length, and the four bearing portions 16 b and 17 b provided at the respective corner portions are both members 16. , 17 are provided at positions where they overlap each other.

  The vehicle body upper member 16 is provided with bearing holes at three positions (a total of six positions on the front and rear surfaces) in each of the middle portion and both end portions in the longitudinal direction that is the left-right direction. Further, the vehicle body lower member 17 is provided with bearing holes at three positions in the longitudinal direction, which is the left-right direction, and at both ends, respectively (the rear surface has two positions at both ends and a total of five positions). The end bearing holes at both ends of the vehicle body upper member 16 and the end bearing holes at both ends of the vehicle body upper member 16 are set at equal intervals so as to correspond to each other, and the left and right bearing portions 16b having these end bearing holes are provided. , 16b and a pair of side members 18L, 18R are interposed between 17b, 17b.

  The pair of side members 18L, 18R slide between a pair of bearing portions 16b, 16b disposed in the front-rear direction of the vehicle body upper member 16 and a pair of bearing portions 17b, 17b disposed in the front-rear direction of the vehicle body lower member 17. It consists of a flat plate-like member having a width that fits in a possible manner, and is disposed on both the left and right side surfaces of the vehicle body upper member 16 and the vehicle body lower member 17 with its flat portion being developed in the vertical direction. Further, bearing holes corresponding to a pair of bearing holes of the vehicle body upper member 16 and a pair of bearing holes of the vehicle body lower member 17 are provided at four positions on both side surfaces of the side members 18L and 18R.

  Of the eight bearing holes of the pair of side members 18L, 18R, the upper bearing support pins that penetrate through the bearing holes of the bearing portions 16b provided at the four positions of the vehicle body upper member 16 are the upper four bearing holes. 21L and 21R are fitted and attached so as to be rotatable. Of the eight bearing holes of the pair of side members 18L and 18R, the four bearing holes located in the lower part rotate downward through the bearing holes of the bearing portions 17b provided at the four positions of the vehicle body lower member 17. The support pins 22L and 22R are fitted and attached so as to be rotatable. Thus, a parallel link mechanism is configured by the vehicle body upper member 16 and the vehicle body lower member 17 and the left and right side members 18L and 18R.

  Wheel drive units 14L and 14R are attached to the outer surfaces of the pair of side members 18L and 18R, respectively. The wheel drive units 14L and 14R can be constituted by, for example, an electric motor and a reduction gear train connected to a rotating shaft of the electric motor so as to be able to transmit power. Each wheel drive unit 14L, 14R comprises a fixed part fixed to each side member 18L, 18R and a rotating part rotatably supported by the fixed part, and a pair of wheels 13L, 13R is provided in the rotating part. Each is attached. As described above, when the pair of wheels 13L and 13R supported by the pair of side members 18L and 18R via the pair of wheel drive units 14L and 14R is placed on a flat road surface, the center of rotation is the same axis. Will match on the line.

  Further, the upper end portions of the pair of side surface members 18L and 18R protrude appropriately upward from the upper surface of the vehicle body upper member 16, and the step portions 11L and 11R are individually attached to the upper end surfaces. The pair of step portions 11L and 11R are provided so as to expand horizontally at the same height position with a predetermined gap in the left-right direction that is the axle direction. The distance between the pair of step portions 11L and 11R is the distance between both feet when a person stands in a natural state.

  The pair of spring receiving portions 17c, 17c of the vehicle body lower member 17 is provided with a predetermined gap at the center in the left-right direction. A pair of spring receiving portions 16c, 16c of the vehicle body upper member 16 are provided at positions corresponding to the pair of spring receiving portions 17c, 17c. And the coil springs 19L and 19R which have a suitable spring force are mounted | worn in the state compressed suitably between the spring receiving parts 16c and 17c which mutually respond | correspond.

  An operation lever bracket 24 is attached to the center in the left-right direction of the vehicle body upper member 16 and the vehicle body lower member 17. The operation lever bracket 24 is formed of a bowl-shaped member configured to straddle the vehicle body upper member 16 in the front-rear direction, and a front portion extending to a lower portion of the vehicle body lower member 17 is provided at the front portion, and a vehicle body upper portion is provided at the rear portion. A rear surface portion extending near the lower portion of the member 16 is provided. A fitting portion for fixing and supporting the turning operation portion 15 is provided on the upper surface of the operation lever bracket 24. Bearing holes are provided on the front surface of the operation lever bracket 24 at positions corresponding to the front center bearing hole of the vehicle body upper member 16 and the center bearing hole of the vehicle body lower member 17, respectively. The rear surface portion is provided with a bearing hole at a position corresponding to the rear center bearing hole of the vehicle body upper member 16.

  An upper front support shaft 25 is rotatably fitted in the upper center bearing hole of the front portion of the operation lever bracket 24. Further, an upper rear rotation support shaft (not shown) is rotatably fitted in the central bearing hole in the rear surface portion. The axis center line of the upper front rotation support shaft 25 and the axis center line of the upper rear rotation support shaft are set on the same axis so that the respective axis centers coincide with each other. The shaft front end portion of the upper front rotation support shaft 25 is fitted into a hole provided in the front surface of the vehicle body upper member 16 and is fastened and fixed by a fixing screw that penetrates the front surface of the vehicle body upper member 16. Similarly, the front end portion of the upper rear turning support shaft is fitted into a hole provided on the rear surface of the vehicle body upper member 16 and is fastened and fixed by a fixing screw that penetrates the rear surface of the vehicle body upper member 16. .

  A lower front support shaft 26 is rotatably fitted in the lower center bearing hole of the front portion of the operation lever bracket 24. The operation lever bracket 24 is rotated in the roll direction X with the lower front rotation support shaft 26 as the center of rotation. In order to allow the operation lever bracket 24 to rotate within a predetermined range, recessed portions 16d and 17d for avoiding contact with the operation lever bracket 24 are provided on the front surfaces of the vehicle body upper member 16 and the vehicle body lower member 17. Is provided. Further, in order to detect the operation amount (rotation amount) of the turning operation portion 15 through the rotation amount (rotation angle) of the operation lever bracket 24 in the roll direction X, the angle detection sensor 31 is provided on the upper front rotation support shaft 25. Is attached.

  The angle detection sensor 31 includes a shaft portion fixed to the upper front rotation support shaft 25 and a detection unit that detects a relative rotational displacement amount between the shaft portion. The detection unit is fixed to one end of the fixed plate 32, and the other end of the fixed plate 32 is fixed to the front surface portion of the operation lever bracket 24 by a fixing screw. As the angle detection sensor 31, for example, a potentiometer, a sensor having a variable capacitor structure, or the like can be applied. The angle detection sensor 31 detects the tilt angle of the operation lever bracket 24 with respect to the vehicle body upper member 16 by utilizing the change in resistance value according to the amount of rotational displacement generated between the shaft portion 31a and the detection portion 31b. can do. The lower end portion of the operation bar 154 is fixed to the fitting portion of the operation lever bracket 24.

  On the upper surface of the operation lever bracket 24 that is the base of the turning operation unit 15, a battery showing a specific example of a power source that supplies power to the pair of wheel drive units 14 </ b> L and 14 </ b> R, the control device and other electronic devices, electric devices, and the like. A stored power storage unit 38 is provided. The power storage unit 38 is covered with a power supply cover 41.

  A housing circuit for driving the pair of wheel drive units 14L, 14R and the like is built in the housing portion 16a of the vehicle body upper member 16. The vehicle body lower member 17 includes an attitude sensor unit that is an attitude detection unit that detects the attitude of the vehicle body 12 and the turning operation unit 15 and outputs detection signals thereof, and a pair of wheel drive units 14L and 14R. A control device 46 that outputs a control signal for drive control is provided. The control device 46 executes predetermined calculation processing based on the detection signal from the attitude sensor unit 45, the detection signal from the angle detection sensor 31, and the like, and outputs necessary control signals to the pair of wheel drive units 14L, 14R and the like. .

  As shown in FIG. 3, the control device 46 includes, for example, an arithmetic circuit 47 having a microcomputer (CPU), a storage device 48 having a program memory, a data memory, and other RAMs and ROMs. The control device 46 is connected to a battery 38 and a pair of drive circuits 44L and 44R, which are also connected via an emergency stop switch 49. The pair of drive circuits 44L and 44R individually control the rotational speed and direction of the pair of wheels 13L and 13R, and the pair of wheel drive units 14L and 14R are individually connected to them.

  The control device 46 is supplied with a detection signal from the angle detection sensor 31 that detects 15 tilt angles and a detection signal from the attitude sensor unit 45. The attitude sensor unit 45 is used to detect angular velocity and acceleration during traveling of the coaxial two-wheeled vehicle 10 and control the angular velocity and traveling acceleration, and includes, for example, a gyro sensor and an acceleration sensor.

  FIG. 4 shows a state where a passenger gets on the coaxial two-wheeled vehicle according to the present embodiment. As shown in the figure, the calf pad portions 151L and 151R abut on the inside of the passenger's calf. As shown in the figure, it can be seen that the passenger's legs, particularly the space around the knee, is open and in an unconstrained state.

  FIG. 5 shows the appearance of this vehicle in a transported state. Further, FIG. 6 shows a state where the user is holding and carrying the vehicle. The turning operation unit 15 of the vehicle has a rotation shaft at the base, and the turning operation unit 15 is folded in a direction approaching the vehicle main body 12 around the rotation shaft. The rotation axis is parallel to the axles of the wheels 13L and 13R, that is, the pitch axis.

  In the coaxial two-wheeled vehicle shown in FIG. 1, the three grounding portions 51a, 51b, 51c located on the front surface of the vehicle are located in the lower part of the vehicle in the transport state shown in FIG. When the vehicle is placed on the ground, these grounding portions 51a, 51b, 51c are in contact with the ground.

  Further, the folded turning operation unit 15 is positioned at the upper part of the vehicle accordingly, and the transport grip 152 which is a part of the turning operation unit 15 becomes a handle of the vehicle as shown in FIG. The vehicle can be gripped and transported. At this time, since the vehicle is in a posture perpendicular to the ground as shown in FIG. 6, the substantial occupied volume is minimized and the vehicle is easy to carry.

  FIG. 7 shows the position of the center of gravity of the vehicle. The vehicle according to the embodiment of the present invention is configured such that, when being gripped, the center of gravity of the vehicle is positioned in the direction of gravity drawn from the carrying grip 152 as a handle to the ground as shown in the drawing, that is, in the direction of gravity. The When the center of gravity is located at a position away from the vertical line drawn from the vehicle carrying grip 152 to the ground, the user needs to maintain a grasp for a large moment, which is a heavy burden. Alternatively, as a result of the change in the angle of the vehicle so that the center of gravity of the vehicle is directly below the transport grip 152, the vehicle is inclined and a substantial occupied volume is increased, which is inconvenient for transport.

  8 and 9 show the vehicle folding operation. First, in a state where the user grips the transport grip 152 with four fingers other than the index finger, the user pulls one of the quick levers 154L and 154R installed on the front portion of the transport grip 152 with the index finger (FIG. 8 (a )). By pulling the lever, the pin that locks the rotation shaft of the turning operation unit 15 is removed, and the turning operation unit 15 can be rotated. From this state, the user applies a force in a diagonally forward direction to the transport grip 152 as shown in FIG. 8B while holding the transport grip 152. As a result, the vehicle rotates in the pitch direction of the vehicle around the two grounding portions 51b and 51c when folded.

  Thus, as shown in FIG. 9A, the vehicle is rotated by a quarter, and the three grounding portions 51a, 51b, and 51c are located on the lower side of the vehicle. At this time, when the user releases the quick levers 154L and 154R that have been pulled with the index finger, the pin for locking the turning operation unit 15 is stuck in the other hole on the shaft, and the rotation of the turning operation unit is locked. . The user grasps and lifts the transport grip 152 of the turning operation unit 15, and shifts to the transport state shown in FIG.

  Thus, by setting the positions of the vehicle transport grip 152 and the quick levers 154L and 154R as shown in FIGS. 8 and 9, the operation from the folding of the vehicle to the lifting is continuously performed with only one hand. be able to. Further, by performing the operations in FIGS. 8 and 9 in the opposite directions, the operations from the installation on the ground of the vehicle to the deployment of the folding structure are similarly realized continuously.

  FIG. 10 shows a detailed structure of the rotation shaft of the turning operation unit 15. The left and right quick levers 154L and 154R are configured to go straight on two guides 155 arranged in parallel. The left and right quick levers 154L and 154R are connected to a single lock pin 158 via a wire 156, respectively.

  The turning operation unit shaft 159 is fixed to the vehicle body 12. When folding the turning operation unit 15, when either the left or right quick levers 154 </ b> L, 154 </ b> R are moved rearward, the wire 156 connected to the quick levers 154 </ b> L, 154 </ b> R is stuck in one hole of the turning operation unit shaft 159. The lock pin 158 is pulled up so that the turning operation unit 15 can be rotated. When the turning operation unit 15 rotates a predetermined angle, the lock pin 758 moves to the position of the other hole of the turning operation unit shaft 159, so that the quick levers 154L and 154R pulled by the user are released, The lock pin 158 is stuck in the hole by the action of the spring force, and the rotation of the turning operation unit 15 is locked again. The operation | movement which expand | deploys the turning operation part 15 is implement | achieved by this reverse motion.

  These mechanisms are configured symmetrically. For example, when the left quick lever 154L is pulled, the left wire 156 is pulled, and the right wire 156 is pushed to the rear of the vehicle by being pushed by the lock pin 158 pulled up thereby. The right quick lever 154R is also indirectly pulled. Since the lock pin 158 can be similarly released by pulling either the left or right quick levers 154L, 154R, it is easy to operate regardless of the user's dominant hand.

  In addition, since the space between the left and right quick levers 154L and 154R is vacant, the operator can change the lever operation with the fingers as shown in FIG. The moving finger can be smoothly operated.

  As described above, according to the coaxial two-wheel vehicle 10 according to the present embodiment, in the vehicle having the turning operation unit 15 for turning the vehicle, the turning operation unit 15 becomes a handle at the time of carrying the vehicle. Both high maneuverability and portability can be realized. Further, by having the turning operation unit 15 operated by the user's legs, the vehicle is downsized by folding the turning operation unit 15 when not riding, and the vehicle is further downsized. Since some of the transportation grips 152 serve as a grip portion during transportation, transportation is facilitated.

  In addition, the turning operation unit 15 that is operated by the user's hand and the turning operation unit 15 includes an extension / contraction mechanism and a folding mechanism, thereby reducing the size of the vehicle, and further providing a transport grip 152 for the turning operation unit 15. It becomes easy to carry because it becomes a gripping part at the time of carrying.

  Furthermore, by having quick levers 154L and 154R that can be operated by a user's finger in the vicinity of the grip portion during transportation, the vehicle can be folded by an operation with only one hand.

  In addition, a quick grip that allows the user to tilt the vehicle when not in the vehicle in the pitch axis direction and that can be operated with a finger in the vicinity of the transport grip 152 is provided. By having the levers 154L and 154R, it is possible to continuously perform operations from folding to lifting of the vehicle and operations from installation to deployment of the vehicle. In particular, the vehicle is easily transported because the position of the center of gravity of the vehicle is arranged on the vertical line drawn from the position of the transport grip 152 of the turning operation unit 15 folded for transport to the ground.

  And since the single-seat mobile body having a small size and light weight and high operability has a structure suitable for transport when not riding, the convenience of the vehicle is greatly expanded. Specifically, by making it possible to easily bring single-seat mobiles to other transportation systems such as trains, buses, and cars, continuous and diverse forms of transportation including those transportation systems are possible. This is realized and the movement can be made more efficient. This is expected to lead to solutions for illegal bicycle parking in front of the station, congestion in urban areas due to excessive use of cars, and environmental pollution. In addition, since a small and lightweight vehicle has portability, it can be used in indoor facilities where there are stairs, etc., which has been a major obstacle for conventional mobile bodies, so the range of use of mobile bodies is expanded. To do. Furthermore, it is highly convenient for loading and storage in the trunk of a car. In addition, secondary effects such as revitalizing the movement of consumers by creating a new mobile culture and the accompanying economic development can be expected.

Embodiment 2 of the Invention
The coaxial two-wheeled vehicle according to the first embodiment of the present invention has the calf contact turning operation unit, but the coaxial two-wheeled vehicle according to the second embodiment has a handle-like turning operation unit that is operated by a user's arm. Have An example of a vehicle having a handle-like turning operation unit and a series of operations from folding to lifting in this vehicle are shown in FIGS.

  The handle 250 maintains the handle length in the riding state as shown in FIG. 11A due to friction between, for example, the two node portions and the turning operation portion rotating shaft portion. In addition, a transport grip 251 is provided between the left and right grips 252L and 252R for vehicle operation during boarding. When the vehicle is folded for transportation, first, as shown in FIG. 11 (b), the handle 250 having the three-stage telescopic structure 253 has a height corresponding to one stage by the downward movement of the user's hand and arm. To be shortened. From this state, similarly to the series of operations in FIGS. 8 and 9, the vehicle is folded around the turning operation unit rotation shaft, and the vehicle main body rotates by a quarter to obtain the state shown in FIGS. 12 (a) and 12 (b). Migrate to When the user grasps the transport grip 251 and lifts the vehicle, the user continuously shifts to the transport state.

  In the example of FIGS. 11 and 12, folding of the vehicle having the handle 250 is realized by the movement of one hand of the user, as in FIGS. In order to fix the telescopic handle, in addition to the method of maintaining the posture by friction, the handle length before and after the telescopic operation and the rotation of the swivel operation unit are rotated by a mechanism similar to the lock / release mechanism of the rotation shaft of the swivel operation unit shown in FIG. There is a way to fix the shaft.

Embodiment 3 of the Invention
The coaxial two-wheeled vehicle according to the third embodiment has a structure in which the turning operation unit can be expanded and contracted. FIG. 13 shows a perspective view of the coaxial two-wheeled vehicle. As shown in the figure, the turning operation unit 60 is operated by the user's hand and is parallel to the roll direction and the pitch axis with respect to the vehicle body 12 at the lower end thereof, as in the first and second embodiments. It is supported so as to be freely rotatable around a rotation axis. A transport grip 36 is provided on the rear portion of the vehicle body 12, that is, on the back surface.

  The turning operation unit 60 includes a handle unit 61 that is a grip unit that is gripped by a user during traveling and a pipe unit 62 (pipes 621a, 621b, and 621c) having three stages.

  The handle portion 61 includes a ring-shaped ring portion 611 that is gripped by the user's hand and a connecting portion 612 that extends obliquely downward from each of the left and right corner portions of the ring portion 611 and connects. The handle portion 61 is provided at the upper end of the pipe portion 62 in the connecting portion 612, and is attached so as to be rotatable around a handle rotation axis that is a rotation axis in the pitch axis direction. In the handle rotation shaft, the angle of the handle portion 61 with respect to the pipe portion 62 is determined by a general lock mechanism used for fixing a bicycle saddle or the like or a friction hinge mechanism.

  The three-stage pipe structure in the pipe portion 62 is displaced in the axial direction (longitudinal direction) and can be accommodated in a length corresponding to one stage. Here, the length of one step is substantially equal to the length of the vehicle body 12 in the front-rear direction. Lock levers 622a and 622b for restraining displacement in the axial direction are installed at two nodes in the pipe structure. The structure of these lock levers 622a and 622b is widely known as a component such as a camera tripod. Such a locking mechanism of the pipe portion 62 also functions as a handle height adjusting mechanism.

  The turning operation unit 60 has a rotation axis (hereinafter referred to as a pipe rotation axis) parallel to the pitch axis at the base (lower end) portion of the pipe unit 62. As shown in FIG. 14, the pipe rotation shaft has a mechanism for releasing the lock of the pipe portion 62 with respect to the vehicle body 12 in accordance with the storing operation in the axial direction of the pipe 621b.

  Here, FIG. 14 is an XZ cross-sectional view including the center line of the pipe portion 62 provided in the coaxial two-wheel vehicle shown in FIG. 13, and only relevant parts are shown. FIG. 14A shows an intermediate stage in which the pipe 621b is housed inside the pipe 621c.

  As shown in the drawing, a lock pin 64 is provided on the back surface (side surface on the vehicle rear side) near the lower end of the pipe 621c so as to extend rearward of the vehicle. The lock pin 64 is urged rearward by the spring 67. For this reason, the lock pin 64 is moved and inserted into the hole 661 provided in the handle shaft 66 fixed to the vehicle body 12 by the spring force generated by the spring 67.

  FIG. 14B shows a state in which the pipe 621b is further pushed down and stored in the pipe 621c. FIG. 15 is a perspective view of the lock / release mechanism, and only relevant parts are extracted and shown. As shown in the figure, two release plates 63 are provided on the inner surface of the pipe 621b. The release plates 63 are arranged with each other such that the main surfaces are parallel. A step that constitutes the slope 631 is provided on the inner surface of the release plate 63. The slope 631 functions as a guide for the lock pin 64 and has a shape that is positioned on the front side of the vehicle from the bottom to the top.

  Further, as shown in FIG. 15, the lock pin 64 has a T-shape, and on the side opposite to the side inserted into the hole 661 provided in the handle shaft 66 in FIG. A plate-like portion 641 projecting left and right is provided.

  14B, the slope 631 of the release plate 63 and the plate-like portion 641 projecting left and right in the T-shaped lock pin 64 come into contact with each other, and the lock pin 64 is pulled out forward of the vehicle. To move. As a result, the lock pin 64 comes out of the hole 661 provided in the handle shaft 66, and the lock of the pipe rotation shaft is released. Note that the lock / release mechanism of the rotating shaft of the turning operation unit 60 in the third embodiment may be configured by the same mechanism as in the first embodiment of the invention.

  Next, an example of the folding operation of the coaxial two-wheel vehicle according to the third embodiment will be described with reference to FIGS. First, as shown in FIG. 16, the user releases the upper lock lever 622a and stores the pipe 621a in the pipe 621b.

  Next, as shown in FIG. 17, the user releases the lower lock lever 622b and stores the pipe 621b in the pipe 621c. At this time, the lock of the pipe rotation shaft is released by the mechanism described with reference to FIGS. As described above, in the third embodiment, since the storing operation in the axial direction of the pipe also serves as the unlocking operation of the pipe rotating shaft, the user's operation is reduced, and the folding operation is performed more quickly and efficiently. Is possible.

  Next, as shown in FIG. 18, the vehicle body 12 is rotated about 90 degrees forward with respect to the turning operation unit 60 (that is, the pipe unit 62) about the pipe rotation axis. Then, as shown in FIG. 19, the front surface of the vehicle body 12 is in contact with the ground and stabilized. At this time, the longitudinal direction of the pipe part 60 is oriented in the vertical direction. When the handle portion 61 is rotated about 90 degrees rearward around the handle rotation axis, the state shown in FIG. 20 is obtained, and the entire turning operation portion is folded in a compact manner. At this time, the handle rotation shaft may be constituted by a friction hinge or a lock mechanism may be provided. However, when the lock mechanism is provided, the handle portion 61 is moved around the handle rotation shaft after the lock mechanism is released. Rotate. Note that the handle rotation shaft and the pipe rotation shaft maintain the angle when folded by the action of gravity or the friction of the rotation shaft portion. Thereby, the mechanism and folding operation of the whole vehicle are simplified. On the other hand, the unfolding of the turning operation unit 60 from the folded state can be realized by the reverse operation of the above-described folding operation described with reference to FIGS.

  In the first and second embodiments of the invention, the transport grip is provided in the turning operation unit. However, in the third embodiment, the transport grip is provided in the vehicle body. In the first and second embodiments of the invention, it is necessary to lock the folded movable parts so as not to unfold when the vehicle is lifted, but by installing a transport grip on the vehicle body as in the third embodiment. It is possible to transport the movable part of the turning operation part without locking at the time of folding. The vehicle according to the embodiment of the present invention is configured so that the center of gravity of the vehicle is positioned in the direction of gravity, that is, the direction of gravity, drawn from the carrying grip as a handle to the ground when gripped.

  The structure of the carrying grip will be described with reference to FIGS. FIG. 21 is an XY cross-sectional view including the center line of the transport grip in the unfolded state. FIG. 22 is a perspective view showing a state where the transport grip is stored and a state where the grip is advanced. In FIG. 22, the notation of the handle portion is omitted.

  As shown in FIG. 21, a guide shaft 362 that serves as a grip guide during deployment, and a grip stopper 363 that is fixed to the tip of the guide shaft 362, a countersunk screw 364 and a grip base 366 that are fixed to the vehicle body 12. It is fixed by tightening. The transport grip 36 further includes a T-shaped grip 361 that is displaced relative to the guide shaft 362 and a magnet 365 that is fixed to the grip 361.

  When the vehicle is traveling, in order to minimize the size of the vehicle, the transport grip 36 is housed in a direction approaching the vehicle body as shown in FIG. In order to prevent the transport grip 36 from unintentionally progressing due to vehicle vibration or the like, as shown in FIG. 21A, the magnet 365 is attracted to the head of the countersunk screw 364, thereby the grip base 366. The position of the grip 361 is fixed.

  In a state where the vehicle is folded to transport the vehicle (see FIG. 20), when the user grips the transport grip 36, the grip 361 is released from being fixed by the magnet 365 by the lifting force and displaced in the direction of the support shaft. Then, the distance from the vehicle body 12 is increased to a state as shown in FIG. In this state, the position of the grip 361 in the axial direction is restricted by the stopper 363. The user can advance the grip in the flow of the lifting operation without performing another operation for unlocking the transport grip 36. The advancement of the transport grip 36 ensures a sufficient space between the transport grip 36 and the rear surface (rear surface) of the vehicle body, and the user positions a finger other than the thumb for grip grip in this space. By doing so, it is possible to grip in a natural state.

  As shown in FIG. 23 (a), the coaxial two-wheeled vehicle according to the present embodiment not only operates the turning operation unit with the hand and arm, but also turns the turning operation unit with the legs as shown in FIG. 23 (b). It is also possible to change the shape so as to operate. Specifically, the pipes 621a and 621b are accommodated in the pipe 621c, and the handle portion 61 is further rotated around the handle rotation axis. Thereby, it is possible to use one vehicle properly according to the application.

Embodiment 4 of the Invention
In the fourth embodiment, in the coaxial two-wheeled vehicle according to the first to third embodiments, a power switch and an attitude calculation switch are provided on a rotary shaft portion provided between the turning operation portion and the vehicle body main body and parallel to the pitch axis. By adding, the convenience of the vehicle is improved.

  24A and 24B show the cross-sectional structure of the rotation shaft of the turning operation unit. As shown in FIG. 24A, the power switch 71 is fixed to the vehicle body base member of the vehicle body 12. Further, a power switch groove 72 for operating the power switch 71 is provided in the handle joint 65 that rotates relative to the vehicle body and the handle shaft 66 fixed to the vehicle body. The power switch groove 72 is a step provided on the outer surface of the handle joint 65 and on the rear surface of the vehicle body. When the turning operation units 15, 250, 60 (hereinafter referred to as the turning operation unit 15) rotate rearward around the rotation axis, the terminal of the power switch 71 is pressurized in the direction of dropping into the groove by the spring force inside the switch. Since it is in the applied state, it falls into the power switch groove 72 and switches from the on state to the off state.

  As shown in FIG. 24B, the posture calculation switch 81 is fixed to the vehicle body base member of the vehicle body 12. The terminal of the attitude calculation switch 81 is urged toward the handle joint 65 by the spring force inside the switch. A posture calculation switch groove 82 for operating the posture calculation switch 81 is provided in the handle joint 65 that rotates relative to the vehicle body and the handle shaft 66 fixed to the vehicle body. The posture calculation switch groove 82 is a step provided on the outer surface of the handle joint 65 and on the rear surface of the vehicle body. When the turning operation unit 15 rotates rearward around the rotation axis, the terminal of the posture calculation switch 81 that has fallen into the posture calculation switch groove 82 is switched from the on state to the off state.

  In the state shown in FIG. 24, since the rotatable turning operation unit 15 is deployed for getting on, both the power switch 71 and the attitude calculation switch 81 are on. Here, the power switch 71 is in an off state when its terminal falls into the groove, and the posture calculation switch 81 is in an on state when its terminal falls into the groove.

  In the state shown in FIG. 5, since the vehicle is in a state to be transported or stored, it is not necessary to turn on the power, and it is not necessary to perform posture calculation. If the power switch 71 and the posture calculation switch 81 are controlled to be in an on state so that the user can get on the vehicle while the turning operation unit 15 is folded, the posture control associated with the drop of the occupant or the configuration change of the vehicle during traveling. There is a high risk that an erroneous calculation will occur.

  In the fourth embodiment, as shown in FIG. 24 (a), by disposing the power switch 71, the turning operation unit 15 starts rotating from the folded state to the unfolded state around the rotation axis. Is turned on. And if the turning operation part 15 is folded, a power supply will be interrupted | blocked. Therefore, in a state where the turning operation unit 15 is folded for transportation or storage, the vehicle cannot be boarded and it is safe. Furthermore, since the power supply is simultaneously cut off by the folding operation of the turning operation unit, it is not necessary to perform a power-off operation separately from the folding operation, and thus the operability is excellent.

  The coaxial two-wheeled vehicle has an attitude sensor and an attitude calculation device for detecting the absolute angle of the vehicle. This posture sensor is constituted by, for example, an acceleration sensor and a gyro sensor. However, it is not desirable that the acceleration sensor be given a large angle change exceeding 90 degrees because of the characteristic of calculating the angle from the direction of the gravity axis. For example, when the vehicle angle θ at which the step is horizontal in the riding posture is 0 degree, cos θ is 0 at 90 degrees. As a result, when performing the posture calculation, a calculation that divides the value by 0 occurs, and the calculation may not be performed accurately. Further, if a large change in angle and change in angular velocity are given after the start of posture calculation, the sensor initialization process may be adversely affected, leading to erroneous output.

  In the coaxial two-wheeled vehicle according to the first embodiment of the invention described above, the vehicle body body on which the attitude sensor is installed rotates about 90 degrees with respect to the ground between the folded state and the deployed state. Therefore, in order to prevent such a large change in vehicle body angle from adversely affecting the posture calculation, as shown in FIG. 24B, a posture calculation switch 81 is provided to detect a change in the state of the terminal, and the turning operation unit By starting the posture calculation at the timing when the deployment of 15 is completed, it is possible to solve the problem of erroneous calculation in such posture control.

  Also, as shown in FIGS. 24A and 24B, a power switch 71, a posture calculation switch 81, a power switch groove 72, and a posture calculation switch groove 82 are arranged, and the power switch 71 is switched on. After that, by adopting a configuration in which the posture calculation switch 81 is switched to an ON state after a certain time difference, the risk of erroneous output of the posture sensor due to an inrush current associated with power-on can be eliminated.

  Here, the flow of control in the fourth embodiment will be described with reference to the flowchart of FIG. In the initial stage, the turning operation unit 15 is in a folded state. In this state, since the terminal of the power switch 71 is located in the power switch groove 72, the power switch is in the power-off state. Further, since the terminal of the posture calculation switch 81 is in the groove 82 for posture calculation switch, the posture calculation is in the off state.

  Thereafter, when the turning operation unit 15 is expanded, first, the terminal of the power switch 71 moves to a region outside the power switch groove 72, and the power switch 71 is turned on (S101). Next, the control device 46 determines whether or not the attitude calculation switch 81 is on (S102). As a result of the determination, when the terminal of the posture calculation switch 81 falls into the posture calculation switch groove 82 and changes from the off state to the on state, posture calculation is started (S103). Thereafter, the control device 46 further executes traveling control (S104).

  Next, the control device 46 determines whether or not the attitude calculation switch 81 has been turned off (S105). When the user starts to fold the turning operation unit 15 in the unfolded state, the terminal of the posture calculation switch 81 located in the groove 82 for the posture calculation switch as the turning operation unit 15 rotates backward, etc. It goes out of the groove 82 for posture calculation switch. At that time, the posture calculation switch 81 shifts from the on state to the off state, and the control device 46 detects this. As described above, when the posture calculation switch 81 is switched to the OFF state, the traveling control is stopped. Thereby, even in the middle stage in which the turning operation unit is folded, it is impossible to get on, so it is safer.

  Thereafter, the control device 46 determines whether or not the power switch 71 is turned off (S106). The terminal of the power switch 71 falls into the power switch groove 72, and the power switch 71 is turned off.

Further, in the coaxial two-wheeled vehicle according to the third embodiment of the invention, it is possible to improve the safety of the vehicle by arranging a switch interlocked with the folding operation of the turning operation unit 15. Alternatively, it is possible to cut off the power supply during transportation by arranging a switch interlocking with the displacement of the transportation grip, and safety is improved.
In the above-described example, the lower end of the turning operation unit 15 is supported at the front portion of the vehicle body 12 so as to be rotatable about a rotation axis parallel to the pitch axis. You may instruct | indicate in the back part and the left-right side part, The rotation axis may not be parallel to a pitch axis | shaft, but may be parallel to the axis | shaft of a roll axis | shaft or arbitrary directions.

1 is an external perspective view of a coaxial two-wheeled vehicle according to an embodiment of the invention. 1 is a front view of a part of a coaxial two-wheeled vehicle according to an embodiment of the invention. It is a block diagram which shows schematic structure of the control part of the coaxial two-wheeled vehicle concerning embodiment of invention. It is an external appearance perspective view which shows the state in which the passenger has boarded the coaxial two-wheeled vehicle concerning embodiment of invention. In embodiment of invention, it is an external appearance perspective view which shows the coaxial two-wheeled vehicle of a conveyance state. It is explanatory drawing which shows a mode that the coaxial two-wheeled vehicle concerning embodiment of invention is conveyed. In embodiment of invention, it is explanatory drawing for demonstrating a gravity center position about the coaxial two-wheeled vehicle of a conveyance state. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is sectional drawing which shows the structure of the rotating shaft of the turning operation part of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. 1 is an external perspective view of a coaxial two-wheeled vehicle according to an embodiment of the invention. 1 is a partial cross-sectional view of a coaxial two-wheeled vehicle according to an embodiment of the invention. 1 is a partial perspective view of a coaxial two-wheeled vehicle according to an embodiment of the invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view for demonstrating folding operation | movement of the coaxial two-wheeled vehicle concerning embodiment of invention. It is sectional drawing of the clip for conveyance of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a perspective view which shows the accommodation state and expansion | deployment state of the coaxial two-wheeled vehicle concerning embodiment of invention. It is explanatory drawing which shows a mode that the user has boarded the coaxial two-wheeled vehicle concerning embodiment of invention. It is a fragmentary sectional view which shows the rotating shaft vicinity of the turning operation part of the coaxial two-wheeled vehicle concerning embodiment of invention. It is a flowchart which shows the flow of control of the coaxial two-wheeled vehicle concerning embodiment of invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Coaxial motorcycle 11L, 11R Step part 12 Vehicle main body 13L, 13R Wheel 14L, 14R Wheel drive unit 15,60,250 Turning operation part 16 Car body upper member 16a Housing | casing part 16b Bearing part 16c Receiving part 16d Recessed part 17 Car body lower part Member 17a Housing portion 17b Bearing portion 17c Receiving portions 18L, 18R Side members 21L, 21R Upper rotation support pins 22L, 22R Lower rotation support pins 24 Operation lever bracket 25 Upper front rotation support shaft 26 Lower front rotation support shaft 31 Angle Detection sensor 31a Shaft part 31b Detection part 32 Fixing plate 36 Carrying grip 38 Power supply storage part 38 Battery 41 Power supply cover 44L, 44R Drive circuit 45 Attitude sensor unit 46 Control device 47 Arithmetic circuit 48 Storage device 49 Emergency stop switches 51a, 51b, 51c Grounding part 61 Handle part 62 Pipe part 64 Kkupin 71 power switch 72 power switch groove 81 attitude control switch 82 attitude control switch groove 150 base member 151L, 151R calf abutting portion 152 carrying grip 153 lower connecting portion 154L, 154R quick lever

Claims (22)

A coaxial two-wheeled vehicle having a turning operation unit that is rotatably attached to the vehicle body in the roll direction, and that realizes turning by tilting the turning operation unit in the roll direction,
The lower end of the turning operation unit is supported by the vehicle body main body so as to be rotatable about a rotation axis,
When transporting the coaxial two-wheeled vehicle, the turning operation unit is rotated in a direction in contact with the vehicle body to be folded .
The turning operation part has a ring shape, and a grip part is formed on a part of the ring shape,
A coaxial two-wheeled vehicle in which a part of a vehicle body enters the inside of the ring shape when the coaxial two-wheeled vehicle is transported .   The coaxial two-wheeled vehicle according to claim 1, further comprising a transporting grip that can be gripped by a user with one hand when transporting the coaxial two-wheeled vehicle at an upper end of the turning operation unit.   3. The coaxial two-wheeled vehicle according to claim 2, wherein in the folded state, the transport grip is separated from the vehicle body main body to the rear side.   4. The coaxial two-wheeled vehicle according to claim 2, wherein the center of gravity of the coaxial two-wheeled vehicle is disposed on a vertical line drawn from the position of the carrying grip to the ground in the folded state. 5.   The coaxial two-wheeled vehicle according to any one of claims 1 to 4, further comprising a fixing mechanism that fixes the turning operation unit to the vehicle body body when the coaxial two-wheeled vehicle is transported.   6. The coaxial two-wheeled vehicle according to claim 5, wherein the turning operation portion is provided with an operation means capable of operating a fixing operation by a fixing mechanism with a finger while holding a transport grip. The coaxial two-wheeled vehicle according to any one of claims 1 to 6, wherein when the coaxial two-wheeled vehicle is transported, a part of a vehicle body is fitted inside the ring shape.   The coaxial two-wheeled vehicle according to claim 1, further comprising a transportation grip that protrudes from a part of the vehicle body and that can be gripped by a user with one hand when the coaxial two-wheeled vehicle is transported. 9. The coaxial two-wheeled vehicle according to claim 8 , wherein a position of the center of gravity of the coaxial two-wheeled vehicle is disposed on a vertical line drawn from the position of the carrying grip to the ground. 10. The coaxial two-wheeled vehicle according to claim 8 , wherein, in the folded state, the transporting grip protrudes outward through an inner side of a ring shape provided in the turning operation unit. The coaxial two-wheeled vehicle according to claim 10 , wherein the transport grip has a T shape. The coaxial two-wheeled vehicle according to any one of claims 8 to 11 , wherein the carrying grip is movably held in a direction away from the vehicle body. 13. The coaxial two-wheeled vehicle according to claim 12 , wherein the transporting grip moves in a direction away from the vehicle body in accordance with a lifting operation by a user. Around the rotation axis provided at the lower end of the turning operation portion, when the turning operation portion is rotated, one of claims 1 to 13 which in conjunction with the rotation, characterized in that with a power switch is OFF states switched A coaxial two-wheeled vehicle according to the above. The coaxial two-wheeled vehicle according to claim 14 , wherein the power switch is turned off when the turning operation unit is rotated and in a folded state. Around the rotation axis provided at the lower end of the turning operation unit, according to claim 1-14 in which the turning operation portion when rotated, in conjunction with the rotation, characterized in that it comprises an attitude computation switch on-off state is switched The coaxial motorcycle according to any one of the above. The coaxial two-wheeled vehicle according to claim 16 , wherein the attitude calculation switch is turned off when the turning operation unit is rotated and in a folded state. When the turning operation unit is rotated around the rotation axis provided at the lower end of the turning operation unit, the turning operation unit is rotated around the rotation switch and the power switch that switches on and off in conjunction with the rotation. A posture calculation switch that switches on and off in conjunction with rotation, and when the turning operation unit is rotated from the folded state to the unfolded state, the posture calculation is performed after the power switch is turned on. The coaxial two-wheeled vehicle according to any one of claims 1 to 13, wherein the switch is turned on. The turning operation unit is disposed between the legs of the occupant and has a structure that is unconstrained with respect to the movement of the legs in the front-rear direction of the vehicle. A part of the turning operation unit is the occupant. The coaxial two-wheeled vehicle according to any one of claims 1 to 18, wherein a turning operation is performed in contact with a leg portion of the vehicle. The coaxial two-wheeled vehicle according to claim 19 , wherein the turning operation unit has contact with the occupant at a calf pad disposed at a height of the occupant's calf. The turning operation unit has an expansion / contraction mechanism that expands and contracts in the longitudinal direction,
The coaxial according to any one of claims 1 to 20, which can be set by the telescopic mechanism to a length in which the turning operation unit can be operated by a passenger's arm and a length in which the turning operation unit can be operated by a passenger's leg. Motorcycle. The turning operation unit has an expansion / contraction mechanism that expands and contracts in the longitudinal direction,
The coaxial two-wheeled vehicle according to any one of claims 1 to 21 , further comprising means for releasing a lock with respect to rotation about the rotation axis when the turning operation unit is set to be short by the telescopic mechanism.