JP5337649B2 - Inverted pendulum type vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle, in which a rider can ride the vehicle out of a saddle or sit on the saddle, footsteps can be changed to be at optimal positions when sitting on the saddle so as to improve the ease of riding and is excellent in running performance. <P>SOLUTION: The inverted pendulum type vehicle 1 includes: a base 2; a movement operation part 3 connected to the base to be movable on a floor surface G to move the base in a desired direction; a drive part driving the movement operation part; step parts 5, which are attached respectively to the right and left sides of the base, and on which the rider P puts his/her feet while straddling the base; and a seat part 6, which is attached to an upper part of the base, and on which the rider can sit. Each step part has an auxiliary step part 20 expansible at least in a horizontal direction. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an inverted pendulum type vehicle that can move on a floor surface.

As a vehicle that can move on the floor surface, for example, an omnidirectional vehicle that can move in all directions (two-dimensional all directions) on the floor surface is known (see Patent Document 1).
In this omnidirectional vehicle, the vehicle includes a moving operation unit that can move in all directions on the floor surface while being in contact with the floor surface, and an actuator device that includes an electric motor that drives the moving operation unit. It is assembled to the substrate.

In the omnidirectional vehicle configured as described above, it is possible to move on the floor surface by driving a spherical, wheel-like or crawler-like moving operation unit by an actuator device. By the way, when driving (steering) the omnidirectional vehicle, the vehicle is operated in a standing state with a foot on a step portion attached to the base.
However, there is a need to drive in a more comfortable posture, or to get in more easily when getting into an omnidirectional vehicle, and installation of a seat or the like has been desired. Therefore, recently, seats such as seats on which passengers (occupants) can sit are provided, and those that can be operated in a sitting state in addition to standing riding have been developed.

International Publication No. 2008/13279 Pamphlet

As described above, a device that can be driven in either a standing state or a sitting state has been developed, but a step portion for placing a foot is common. In other words, it is necessary to put the foot on the same step portion even when driving while standing and riding. At this time, in the case of sitting, there is a case where it is desired to make the feet as easy as possible by changing the place for placing the feet on the step portion according to the sitting posture.
However, since the position of the step part is decided mainly assuming the case of standing and riding, when the sitting position is restricted, the position of the foot is restricted to the position assumed at the time of standing and it feels difficult to ride was there.

  The present invention has been made in consideration of such circumstances, and its purpose is to allow both standing and sitting, and to change the foot placement to an optimal position during sitting, It is an object to provide an inverted pendulum type vehicle with improved ease of riding and excellent drivability.

In order to achieve the above object, the present invention provides the following means.
(1) An inverted pendulum type vehicle according to the present invention is an inverted vehicle capable of selecting both standing and sitting, and is connected to a base and the base so as to be movable on a floor surface. A moving operation unit that moves in a desired direction, a drive unit that is disposed on the base body and that drives the moving operation unit, and is attached to the left and right sides of the base body. A step part to be placed, and a seat part attached to an upper part of the base body and seated by the occupant, wherein the step part is attached so as to be movable at least in a horizontal direction, and the moving operation at the time of standing It is located substantially directly above the ground contact point of the unit, and is capable of moving to a position different from the position when sitting .

In the inverted pendulum type vehicle according to the present invention, since the step portion and the seating portion are attached to the base body, it is possible to drive (maneuver) in either the standing state or the sitting state.
When standing up, the rider gets on the stepped portion with the legs of both legs while straddling the base. After boarding, if the base body is tilted, for example, by tilting the upper body in a direction in which the passenger wants to travel, the driving section appropriately drives the moving operation section according to the tilt of the base body. Then, the moving operation unit moves on the floor surface and moves the base body in a direction in which the passenger wants to travel. As a result, the passenger can advance the base body in a desired direction while standing.
On the other hand, when sitting, the rider sits on the step portion and sits on the seat portion attached to the upper portion of the base. Thereby, the passenger can advance the base body in a desired direction in the sitting state.

In this way, the passenger can drive in any state of standing and sitting.
In particular, the step portion is movable at least in the horizontal direction. As a result, the passenger can change the position of the footrest where the foot is to be placed to an optimum position corresponding to each posture, when standing and sitting. Therefore, in the case of sitting, the feet can be made easier than before, and the ride can be made without feeling cramped. As a result, drivability can be improved.

(2) The inverted pendulum type vehicle according to the present invention is the inverted pendulum type vehicle according to the present invention, wherein the step portion connects the center of gravity of the moving operation unit and the center of gravity of the entire vehicle when the base is viewed from the side. It is attached so that it may cross | intersect with respect to a vehicle axis line, and it is attached so that a movement toward the toe side of the said foot part is possible.

In the inverted pendulum type vehicle according to the present invention, the step portion is attached so as to intersect the vehicle axis connecting the center of gravity of the moving operation portion and the center of gravity of the entire vehicle when the base is viewed from the side. Therefore, regardless of whether the passenger rides in the standing or sitting state using this step portion, the position of the center of gravity of the passenger is likely to coincide with the vehicle axis. Therefore, the passenger can easily balance and can drive in a more stable state.
Moreover, the step part is attached so that a movement toward the toe side of a foot | leg part is possible. For this reason, the passenger can place his / her foot in front of the user when standing and riding. Therefore, when sitting and riding, it is possible to sit in a relaxed and comfortable posture with the front part as far forward as possible, rather than being folded from the knee to the rear side. Therefore, the ease of riding is further improved, and it becomes easier to drive.

(3) An inverted pendulum type vehicle according to the present invention is an inverted type vehicle that can select both standing and sitting, and is connected to the base and the base so as to be movable on the floor surface. A moving operation unit that moves in a desired direction, a drive unit that is disposed on the base and drives the moving operation unit, and is positioned right above the grounding point of the moving operation unit. And a step part on which the occupant places the foot while straddling the base, and a seat part attached to the upper part of the base and seated by the occupant. An auxiliary step that can be expanded at least in a horizontal direction is provided, and the auxiliary step is positioned substantially immediately above the grounding point of the moving operation unit when standing and is different from the position when sitting. this has been and can be deployed in The features.

In the inverted pendulum type vehicle according to the present invention, since the step portion and the seating portion are attached to the base body, it is possible to drive (maneuver) in either the standing state or the sitting state.
When standing up, the rider gets on the stepped portion with the legs of both legs while straddling the base. After boarding, if the base body is tilted, for example, by tilting the upper body in a direction in which the passenger wants to travel, the driving section appropriately drives the moving operation section according to the tilt of the base body. Then, the moving operation unit moves on the floor surface and moves the base body in a direction in which the passenger wants to travel. As a result, the passenger can advance the base body in a desired direction while standing.
On the other hand, when sitting, the rider sits on the step portion and sits on the seat portion attached to the upper portion of the base. Thereby, the passenger can advance the base body in a desired direction in the sitting state.

In this way, the passenger can drive in any state of standing and sitting.
In particular, the step portion is provided with an auxiliary step portion that can be expanded at least in the horizontal direction. Thereby, the passenger can place his / her foot using the auxiliary step portion in addition to the step portion in the sitting state. That is, it is possible to secure a wider range of footrests for placing the foot than when standing, and the foot can be placed at an optimum position according to the seated posture. Therefore, in the case of sitting, the feet can be made easier than before, and the ride can be made without feeling cramped. As a result, drivability can be improved.

(4) The inverted pendulum type vehicle according to the present invention is the inverted pendulum type vehicle according to the present invention, wherein the step unit connects the center of gravity of the moving operation unit and the center of gravity of the entire vehicle when the base is viewed from the side. It is attached so that it may cross | intersect with respect to a vehicle axis line, The said auxiliary step part is provided in the said step part so that expansion | deployment is possible toward the toe side of the said foot part, It is characterized by the above-mentioned.

In the inverted pendulum type vehicle according to the present invention, the step portion is attached so as to intersect the vehicle axis connecting the center of gravity of the moving operation portion and the center of gravity of the entire vehicle when the base is viewed from the side. Therefore, regardless of whether the passenger rides in the standing or sitting state using this step portion, the position of the center of gravity of the passenger is likely to coincide with the vehicle axis. Therefore, the passenger can easily balance and can drive in a more stable state.
Moreover, the auxiliary step part is provided in the step part so that expansion | deployment is possible toward the toe side of a foot part. For this reason, the passenger can place his / her foot in front of the user when standing and riding. Therefore, when sitting and riding, it is possible to sit in a relaxed and comfortable posture with the front part as far forward as possible, rather than being folded from the knee to the rear side. Therefore, the ease of riding is further improved, and it becomes easier to drive.

(5) The inverted pendulum type vehicle according to the present invention is the inverted pendulum type vehicle according to the present invention, wherein the base body includes a lower frame to which the step portion is attached, and an upper frame to which the seat portion is attached. The upper frame is tilted rearward from the lower frame during the standing ride and the sitting ride, and the step surface has a step surface on which the foot portion is placed. It is characterized by being substantially parallel to the floor surface when tilted.

(6) The inverted pendulum type vehicle according to the present invention is characterized in that, in the inverted pendulum type vehicle of the present invention, the seating portion is attached to the base so as to be housed.
In the inverted pendulum type vehicle according to the present invention, the step portion can be accommodated in the base body, so that it is possible to drive without worrying about the seating portion when driving in a standing state. Therefore, drivability can be further improved.

(7) The inverted pendulum type vehicle according to the present invention is characterized in that in the inverted pendulum type vehicle of the present invention, the step portion is attached to the base body so as to be housed.

In the inverted pendulum type vehicle according to the present invention, the step portion as well as the seating portion can be stored in the base body, so that it can be made compact when not in use or stored. Therefore, storage and the like can be performed even in a narrow space, and convenience can be improved.
Moreover, when carrying, it can carry without interfering with a seating part and a step part, and without worrying about these. Therefore, it is easy to handle in this respect, and convenience can be improved.

  According to the inverted pendulum type vehicle according to the present invention, both standing and sitting are possible, and the place of foot can be changed to an optimal position when sitting. Therefore, it is possible to provide an inverted pendulum type vehicle that is easy to ride and excellent in drivability in both cases of standing and sitting.

It is a figure which shows embodiment of the inverted pendulum type vehicle which concerns on this invention, Comprising: It is a perspective view in the middle of driving | running in the standing state. FIG. 2 is a perspective view during driving the inverted pendulum type vehicle shown in FIG. 1 in a sitting state. It is an external appearance perspective view of the inverted pendulum type vehicle shown in FIG. 1, and is a perspective view in a state in which a step part and a seating part are stored. It is a perspective view at the time of setting a step part and a seating part to a use state from the state shown in FIG. It is a figure which shows the internal structure of the inverted pendulum type vehicle shown in FIG. 3, Comprising: It is the figure which expanded the wheel body and the actuator apparatus. FIG. 4 is a side view of the inverted pendulum type vehicle viewed from the direction of arrow C shown in FIG. 3. It is an expansion perspective view of the step part shown in FIG. It is a top view of the step part seen from the arrow D direction shown in FIG. It is a perspective view which shows the state which is rotating the auxiliary | assistant step part toward the front from the state shown in FIG. It is a perspective view which shows the state which further rotated the auxiliary | assistant step part from the state shown in FIG. 9, and expand | deployed ahead. It is a longitudinal cross-sectional view of the upper frame of the inverted pendulum type vehicle shown in FIG. It is the perspective view which looked at the wheel body and actuator device shown in Drawing 5 from the slanting lower side. It is a perspective view of the wheel body shown in FIG. It is a figure which shows the relationship between the wheel body shown in FIG. 5, and a free roller, Comprising: It is the figure which looked at the wheel body from the side. It is a figure which shows the relationship between the wheel body shown in FIG. 5, and a free roller, Comprising: It is the figure which looked at the wheel body from upper direction. It is the side view which looked at the driving | running state shown in FIG. 1 from the arrow A direction. FIG. 3 is a side view of the operating state shown in FIG. It is a figure which shows the modification of the wheel body which comprises the inverted pendulum type vehicle which concerns on this invention. It is sectional drawing of the wheel body shown in FIG.

Hereinafter, an embodiment of an inverted pendulum type vehicle according to the present invention will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the inverted pendulum type vehicle 1 according to the present embodiment is capable of driving regardless of whether the passenger P is standing or sitting. An omnidirectional vehicle that moves in a desired direction on G.
FIG. 1 is a perspective view during driving in a standing state. FIG. 2 is a perspective view during driving while sitting and riding.

  As shown in FIGS. 3 to 5, the inverted pendulum type vehicle (hereinafter simply referred to as a vehicle) 1 is in contact with the base 2 and the floor surface G in all directions on the floor surface G (front-rear direction and left-right direction). A wheel body (moving operation unit) 3 that is connected to the base body 2 so as to be movable in two directions (including all directions) and moves the base body 2 in a desired direction, and is disposed inside the base body 2. 3, an actuator device (driving unit) 4 for driving 3, a step unit 5 on which the occupant P places a foot, and a seat that is attached to the upper part of the base 2 and on which the occupant P can sit. Part 6.

  FIG. 3 is an external perspective view of the vehicle 1 in a state in which the step unit 5 and the seating unit 6 are housed in the base body 2. FIG. 4 is an external perspective view of the vehicle 1 when the step unit 5 and the seating unit 6 are set in use from the state shown in FIG. FIG. 5 is a diagram showing an internal structure of the base body 2 in which the wheel body 3 and the actuator device 4 are enlarged.

Here, in this embodiment, front and rear, right and left, and top and bottom are defined according to the direction seen from the posture of the passenger P who gets on the step unit 5 in a standard posture. The “standard posture” is a natural posture in which the trunk axis of the upper body of the occupant P is generally directed vertically and the upper body is not twisted.
Accordingly, in FIG. 1, “front” refers to a diagonally downward left direction with respect to the paper surface, and “rear” refers to a diagonally upward right direction with respect to the paper surface. “Right” refers to the upper left direction with respect to the paper surface, and “left” refers to the lower right direction with respect to the paper surface. Further, “upper” refers to the upward direction with respect to the paper surface, and “lower” refers to the downward direction with respect to the paper surface. The direction connecting “front” and “rear” is referred to as the front-rear direction L1, the direction connecting “left” and “right” is referred to as the left-right direction L2, and the direction connecting “up” and “down”. It is called the up-down direction L3.

As shown in FIGS. 3 and 6, the base body 2 includes a lower frame 10 to which the wheel body 3, the actuator device 4 and the step portion 5 are attached, and an upper frame 11 to which the seat portion 6 is attached. It is formed in a side view shape (8-shape). FIG. 6 is a side view of the vehicle 1 as seen from the direction of arrow C shown in FIG.
As shown in FIG. 5, the wheel body 3 and the actuator device 4 are built in the lower frame 10. The wheel body 3 is exposed to the outside through an opening 10 a formed at the lower end of the lower frame 10 and is grounded to the floor G. The wheel body 3 and the actuator device 4 will be described in detail later.

As shown in FIGS. 3, 4, and 6, step portions 5 on which the rider P places feet are attached to the left and right side portions facing the right and left sides of the lower frame 10, respectively. .
More specifically, a storage recess 15 for storing the step portion 5 is formed in the side surface of the lower frame 10 so as to be vertically elongated. As shown in FIG. 6, the storage recess 15 has a vertically long shape along the vertical direction when the vehicle 1 is tilted rearward (the upper frame 11 is tilted backward from the lower frame 10). Is formed. And the step part 5 and the stopper 16 are arrange | positioned so that it may fit in this accommodation recessed part 15. As shown in FIG.

  In addition, the vehicle 1 of this embodiment is controlled so that it may be stabilized with the back leaning attitude | position mentioned above at the time of a driving | operation. Then, based on this rearward tilt state, the actuator moves forward when the base body 2 is tilted forward due to the weight shift of the passenger P, etc., moves backward when tilted further backward, and moves left and right when tilted left and right. The device 4 drives the wheel body 3. This point will be described later.

The stopper 16 is fixed in a state of being fitted to the lower side in the storage recess 15, and has a rotation shaft (not shown) having an axial direction substantially in the front-rear direction L1 at the top. The step portion 5 is formed in a U shape in plan view, and is rotatably connected to the rotation shaft so as to sandwich the upper portion of the stopper 16.
Thereby, the step part 5 is rotatable between the housed state housed in the housing recess 15 and the open state projecting to the right side and the left side.

  In particular, when the vehicle 1 is not used or stored, the step portion 5 can be stored in the storage recess 15 as shown in FIG. Only when the vehicle 1 is used, as shown in FIG. 4, the step portion 5 can be rotated and pulled out from the housing recess 15. At this time, the step portion 5 comes into contact with the stopper 16 when it is rotated by approximately 90 degrees, and the posture is maintained at that position. Accordingly, the step surface on which the foot is placed is designed to be substantially parallel (that is, horizontal) to the floor surface G.

By the way, as shown in FIG. 6, the step portion 5 intersects the vehicle axis T connecting the center of gravity (wheel center) G1 of the wheel body 3 and the vehicle center of gravity G2 when the base body 2 is viewed from the side. Designed to be That is, the left and right axis lines (not shown) connecting the step portions 5 attached to the left and right sides of the base body 2 are designed to intersect the vehicle axis line T.
Therefore, even if the passenger P uses the step portion 5 to drive in a standing or sitting state, the position of the center of gravity of the passenger P easily matches the vehicle axis T. It has become.
Moreover, since the step part 5 is located substantially right above the ground contact point S of the wheel body 3, the passenger P is also designed to be very easy to balance and to drive at this point.

Further, the step portion 5 of the present embodiment is provided with an auxiliary step portion 20 that can be deployed in a direction parallel to the step surface, that is, in the horizontal direction, and on which the foot portion is placed when sitting on the seat portion 6. Yes. Specifically, it is provided so that it can expand toward the front which is the toe side of the foot.
The auxiliary step unit 20 will be described in detail with reference to FIGS. FIG. 7 is an enlarged perspective view of the step portion 5 shown in FIG. FIG. 8 is a top view of the step portion 5 shown in FIG. FIG. 9 is a perspective view showing a state where the auxiliary step portion 20 is rotated forward from the state shown in FIG. FIG. 10 is a perspective view showing a state in which the auxiliary step unit 20 is further rotated from the state shown in FIG. 9 and deployed forward.

First, the step portion 5 is integrally formed in a U shape in plan view by three frames of a front frame 5a, a rear frame 5b, and a side frame 5c. The auxiliary step portion 20 is formed in a plate shape having a size that fits in a space surrounded by the three frames 5a, 5b, and 5c, and is rotatable with respect to the shaft 21 fixed to the front frame 5a. It is connected to. That is, they are hinged.
The auxiliary step unit 20 is designed to rotate at a rotation angle of approximately 180 degrees. Thereby, as shown in FIGS. 7 and 8, the auxiliary step unit 20 changes the state shown in FIG. 9 from the state of being contained in the space surrounded by the three frames 5 a, 5 b, and 5 c of the step unit 5. Via, it rotates to the state turned upside down as shown in FIG.

And the auxiliary step part 20 will be in the state (front expansion | deployment) located ahead rather than the front frame 5a of the step part 5 at the time of turning over, as shown in FIG. Accordingly, the passenger P can place the foot portion forward by using the auxiliary step portion 20.
The inverted surface 20a is a step surface of the auxiliary step unit 20, and is a flat surface without unevenness. However, a slight unevenness may be formed on the step surface so that the anti-slip function is exhibited.

By the way, when turned over, the auxiliary step portion 20 is in a stable state by partially overlapping the front frame 5 a of the step portion 5. At this time, in order to further stabilize the auxiliary step portion 20, the front frame 5 a is formed with a first dent formed in one step in accordance with the outline of the auxiliary step portion 20 as shown in FIGS. 7 to 9. A portion 22 is formed, and a second recessed portion 23 is formed which is further recessed from the first recessed portion 22. On the other hand, the auxiliary step portion 20 has a pattern portion 24 that is fitted into the second recess portion 23 bulged.
As a result, when the auxiliary step portion 20 is deployed forward as shown in FIG. 10, the pattern portion 24 is fitted into the second dent portion 23 and the entire shape is fitted into the first dent portion 22. Accordingly, the auxiliary step portion 20 is designed to overlap with the front frame of the step portion 5 in a very stable state and hardly cause rattling.

An upper frame 11 is integrally connected to the upper portion of the lower frame 10 configured as described above as shown in FIG.
A handle portion 30 that can be pulled upward is attached to the uppermost portion of the upper frame 11. The handle portion 30 extends in the front-rear direction L <b> 1, is formed to be curved in accordance with the outer shape of the upper frame 11, and is coupled to the upper frame 11 via a plurality of rod portions 31. The plurality of rod portions 31 are fixed to the upper frame 11 so as to be movable in the vertical direction L3, and move upward as the handle portion 30 is pulled out and move downward as the handle portion 30 is pushed. It has become.
Thus, since the handle part 30 which can be pulled out is provided in the upper frame 11, it is designed so that the vehicle 1 can be easily carried using the handle part 30 when not in use.

In addition, seating portions 6 on which passengers P can sit as shown in FIGS. 3 and 4 are attached to side portions facing the right and left sides of the upper frame 11, respectively. The seat portion 6 is pivotably attached so as to jump up to the right and left sides, and can be stored in the upper frame 11 when not in use.
More specifically, first, the upper frame 11 is formed with a storage chamber 33 having a circular shape in plan view penetrating in the left-right direction L2, and the seat portion 6 is used as shown in FIG. Can be stored.

  As shown in FIG. 11, the seating portion 6 is rotatably provided between the seat portion 35, the arm portion 36 connected to the seat portion 35, the storage chamber 33, and the handle portion 30. 36, and a rotating body 37 to which the base end sides of the 36 are respectively connected. FIG. 11 is a longitudinal sectional view of the upper frame 11.

The seat portion 35 has a substantially circular seat surface 35a on which the collar portion is placed, a facing surface 35b that faces the seat surface 35a, and the tip of the arm portion 36 is connected, and faces the seat surface 35a. And a peripheral surface 35c integrally connecting the surface 35b.
The seat surface 35a is smoothly curved so that the center portion is recessed from the peripheral edge in order to enhance the fit when seated. Further, the peripheral surface 35 c is formed in an R shape that draws a smooth curve so as to be in contact with the upper frame 11 without a gap when the seat portion 6 is stored in the storage chamber 33.

The arm portion 36 is greatly curved from the distal end toward the proximal end, and the proximal end side is externally fixed to the insertion portion 37 a of the rotating body 37 by press fitting or the like. Thereby, the arm part 36 rotates with the rotation of the rotating body 37.
The rotating body 37 is arranged adjacent to the front-rear direction L1, and is supported by a rotating shaft 38 whose axial direction faces the front-rear direction L1. The insertion portion 37a is integrally formed with the rotating body 37, and the insertion portion 37a can be rotated within a range of approximately 90 degrees. As a result, the seat portion 6 is raised from the state of being accommodated in the storage chamber 33 as shown in FIG. 3 and the seat portion 35 jumps up in the left-right direction L2 as shown in FIG. 4 at a position higher than the uppermost portion of the upper frame 11. The seat portion 35 is movable to a substantially horizontal state.

Next, the wheel body 3 and the actuator device 4 will be described in detail with reference to FIGS. 5 and 12 to 15.
12 is a perspective view of the wheel body 3 and the actuator device 4 shown in FIG. 5 as viewed obliquely from below. FIG. 13 is a perspective view of the wheel body 3 shown in FIG. FIG. 14 is a view showing the relationship between the wheel body 3 and the free roller 43 shown in FIG. 5 and is a view of the wheel body 3 as viewed from the side. FIG. 15 is a view showing the relationship between the wheel body 3 and the free roller 43 shown in FIG. 5 and is a view of the wheel body 3 as viewed from above.

As shown in FIGS. 5 and 12, the wheel body 3 is formed in an annular shape from a rubber-like elastic material, and has a substantially circular cross-sectional shape. Due to the elastic deformation of the wheel body 3, as shown by an arrow Y1 in FIGS. 13 and 14, the center C1 of the circular cross section (more specifically, the axis C2 of the wheel body 3 through the circular cross section center C1). And a concentric circle).
A grid groove may be formed on the outer surface of the wheel body 3. Strictly speaking, in such a case, the cross-sectional shape of the wheel body 3 does not become circular, but the cross-sectional shape of the wheel body 3 only needs to be rotatable around C1. Those that are formed are collectively called a circle.

The wheel body 3 is disposed in the lower frame 10 with its axis (axis center orthogonal to the diameter direction of the entire wheel body 35) C2 in the left-right direction L2, and the opening 10a of the lower frame 10 is disposed. The floor is exposed to the floor G at the lower end exposed from.
The wheel body 3 is driven by the actuator device 4 to rotate around the axis C2 of the wheel body 3 as shown by the arrow Y2 in FIG. It is possible to perform the operation of rotating around the center C1 of the three cross sections. As a result, the wheel body 3 can move in all directions on the floor surface G by a combined operation of these rotational operations.

Actuator device 4 functions as a drive part which gives power which drives wheel body 3, and as shown in Drawing 5 and Drawing 12, between wheel body 3 and the right and left side parts of lower frame 10, And a left and right electric motor 41 for rotating the rotating member 40, respectively.
Each of the electric motors 41 is attached to a frame (not shown) in which each housing constitutes the lower frame 10. Although illustration is omitted, the power source (capacitor) of the electric motor 41 is mounted at an appropriate position on the base 2.

  The left and right rotating members 40 are rotatably supported on the right side surface of the lower frame 10 via a support shaft 42 having an axis in the left-right direction L2. These rotating members 40 are respectively connected to the output shaft of the electric motor 41 and are driven to rotate by power (torque) transmitted from the electric motor 41.

The left and right rotating members 40 are each formed in the same shape as a truncated cone that decreases in diameter toward the wheel body 3, and the outer peripheral surface thereof is a tapered outer peripheral surface 40 a.
A plurality of free rollers 43 are arranged around the tapered outer peripheral surface 40 a of the rotating member 40 so as to be arranged at equal intervals on a circumference concentric with the rotating member 40. Each of these free rollers 43 is attached to the tapered outer peripheral surface 40 a via a bracket 44 and is rotatably supported by the bracket 44.

  The wheel body 3 is disposed coaxially with the rotating member 40 so as to be sandwiched between the left and right free rollers 43. At this time, as shown in FIG. 5 and FIG. 14, each free roller 43 has its axis C3 inclined with respect to the axis C2 of the wheel body 3, and the diameter direction of the wheel body 3 (the wheel body 3 When viewed in the direction of the axis C2, it is arranged in a posture inclined with respect to the radial direction connecting the axis C2 and each free roller 43). In such a posture, the outer peripheral surface of each free roller 43 is pressed against the inner peripheral surface of the wheel body 3 in an oblique direction.

  More generally speaking, the free roller 43 on the right side has a frictional force component (in the direction around the axis C2 on the contact surface with the wheel body 3) when the rotating member 40 is driven to rotate around the axis C2. The frictional force component in the tangential direction of the inner periphery of the wheel body 3) and the frictional force component in the direction around the transverse center C <b> 1 of the wheel body 3 (the frictional force component in the tangential direction of the circular cross section) act on the wheel body 3. In such a posture, the wheel body 3 is in pressure contact with the inner peripheral surface. The same applies to the free roller 43 on the left side.

The above point will be described in more detail.
As shown in FIGS. 14 and 15, the axis C3 of each free roller 43 is at least an angle with respect to the radial direction of the wheel body 3 (see FIG. 14) when viewed from the axial direction of the axis C2 of the wheel body 3. At an angle with respect to the center C1 of the cross-section of the wheel body 3 (angles β1 and β2 shown in FIG. 15). Is tilted. Such a three-dimensional axis inclination is analogous to the tooth inclination of a “helical bevel gear” placed on a conical surface at an angle.
Note that the inclination angle α is not 0 degree, and the angles β1 and β2 need not be 90 degrees.

In this manner, the axial center C3 of the free roller 43 is tilted three-dimensionally with respect to a virtual vertical plane orthogonal to the axial center C2 of the wheel body 3, thereby allowing the outer peripheral surface of each free roller 43 and the wheel body to be The frictional force acting at the contact portion with the outer peripheral surface acts as the lateral force of the free roller 43 in the tangential direction (around the axis C2) of the wheel body 3 and in the direction around the axis C3.
Note that only one of the free rollers 43 may be inclined three-dimensionally, and the other may be parallel to the rotation direction of the wheel body 3. Further, it is preferable that the contact surface between the free roller 43 and the wheel body 3 is subjected to appropriate uneven processing and rough surface processing so that the above-described frictional force is exhibited to the maximum.

Next, a case where the vehicle 1 configured as described above is driven (steered) will be described.
First, in the vehicle 1 of the present embodiment, since the step portion 5 and the seating portion 6 are respectively attached to the base body 2, it is possible to drive in either a standing state or a sitting state. is there.

First, the case of standing will be described.
In this case, as shown in FIG. 3, the step portion 5 housed in the housing recess 15 of the lower frame 10 is rotated by approximately 90 degrees and pulled out from the housing recess 15, and left and right as shown in FIG. Overhang. At this time, the left and right step portions 5 hit the stopper 16 at the time when the left and right step portions 5 are rotated by approximately 90 degrees, so that the posture is stabilized in a state where the step surface is substantially parallel to the floor surface G.
In addition, it is not necessary to operate the auxiliary step unit 20 at the stage of standing.

After pulling out the step portion 5, the passenger P places the feet of both legs on the left and right step portions 5 while straddling the base 2 as shown in FIGS. 1 and 16. FIG. 16 is a side view of the operating state shown in FIG.
And after standing, the actuator apparatus 4 drives the wheel body 3 according to the inclination of the base | substrate 2 resulting from the weight shift etc. of the passenger P.
Specifically, as shown in FIG. 16, when the base body 2 tilted forward is further tilted forward by weight movement such as the passenger P tilting the upper body, the vehicle 1 moves forward. Thus, the actuator device 4 drives the wheel body 3.
Similarly, when the base body 2 is tilted rearward, rightward, or leftward by a weight shift such as the passenger P tilting the upper body, the actuator device is arranged so that the vehicle 1 moves in the direction in which the base body 2 tilts. 4 drives the wheel body 3.

Here, the relationship between the movement of the actuator device 4 that drives the wheel body 3 and the moving direction of the vehicle 1 will be briefly described.
First, when the passenger P tilts the base body 2 in the front-rear direction L1 due to weight shift, each of the electric motors 41 drives the rotating member 40 to rotate in the same direction at a constant speed. Then, the wheel body 3 rotates around the axis C <b> 2 in the same direction as the rotating member 40. As a result, since the wheel body 3 rotates on the floor G in the front-rear direction L1, the vehicle 1 can be moved in the front-rear direction L1.
In this case, the wheel body 3 does not rotate around the center C1 of the cross section.

Further, when the passenger P tilts the base body 2 in the left-right direction L2 due to weight shift, the electric motor 41 drives the rotating member 40 to rotate in the opposite direction at the same speed. Then, the wheel body 3 will rotate around the cross-sectional center C1. As a result, since the wheel body 3 moves in the direction of the axis C2 (that is, the left-right direction L2), the vehicle 1 can be moved in the left-right direction L2.
In this case, the wheel body 3 does not rotate around the axis C2.

Further, when the passenger P tilts the base body 2 in the oblique direction with respect to the front, back, left and right by weight shift, the electric motor 41 causes the rotating member 40 to move in the same direction or in the opposite direction at different speeds (speeds including directions). To rotate. As a result, the wheel body 3 rotates about the axis C2 and simultaneously rotates about the center C1 of the cross section. As a result, the wheel body 3 moves in a direction inclined with respect to the front-rear direction L1 and the left-right direction L2 by the combined operation (combination operation) of these rotational operations, so that the vehicle 1 can be moved in an oblique direction.
In this case, the moving direction of the wheel body 3 changes depending on a difference in rotational speed (rotational speed vector in which polarity is defined according to the rotational direction) including the rotational direction of the rotating member 40. .

  As described above, the wheel body 3 appropriately driven by the actuator device 4 moves in all directions (two-dimensional all directions) on the floor G, and the direction in which the passenger P wants to travel through the base body 2 (weight shift). The base body 2 is moved toward the inclined direction). Thereby, the passenger P can move the base body 2 in a desired direction while standing.

  Next, when sitting on the seat, first, the seat portion 6 accommodated in the storage chamber 33 of the upper frame 11 is rotated so that the seat portion 35 jumps up in the left-right direction L2 as shown in FIG. . And it sets so that the sheet | seat part 35 may become substantially horizontal in the position higher than the uppermost part of the upper frame 11. FIG.

  At the same time, the passenger P rotates the auxiliary step portion 20 shown in FIG. That is, the auxiliary step portion 20 accommodated in the space surrounded by the three frames 5a, 5b, and 5c of the step portion 5 is gradually rotated as shown in FIG. 9, and finally as shown in FIG. Rotate until it is turned over. Thereby, auxiliary step part 20 can be located ahead rather than front frame 5a of step part 5, and front deployment can be completed.

  Then, after the setting of the seating portion 6 and the forward deployment of the auxiliary step portion 20 are completed, the passenger P places the foot on the step portion 5 and sits down as shown in FIGS. 2 and 17. Sit on part 6 and sit down. FIG. 17 is a side view of the operating state shown in FIG. Thereby, the passenger P can advance the base body 2 in a desired direction in the sitting state.

Thus, according to the vehicle 1 of the present embodiment, the occupant P can drive in either the standing state or the sitting state.
In particular, the step unit 5 is provided with an auxiliary step unit 20 that can be expanded in a horizontal direction that is parallel to the step surface. Thus, the passenger P can place his / her foot using the auxiliary step unit 20 in addition to the step unit 5 in the sitting state. That is, it is possible to secure a wide range of footrests on which the feet are placed rather than when standing, and the feet can be placed at an optimal position according to the sitting posture.
Therefore, in the case of sitting, the feet can be made easier than before, and the ride can be made without feeling cramped. Therefore, drivability in the sitting state can be improved.

  In particular, in this embodiment, the auxiliary step part 20 is provided so as to expand toward the front which is the toe side of the foot part. Therefore, as shown in FIG. 16 and FIG. 17, the passenger P can place his / her foot forward when sitting and riding. Therefore, when sitting and riding, it is possible to sit in a relaxed and comfortable posture with the front part as far forward as possible, rather than being folded from the knee to the rear side. Therefore, it is very easy to ride and to drive.

  As described above, according to the vehicle 1 of the present embodiment, both standing and sitting are possible, and the foot placement can be changed to an optimal position during sitting. Therefore, it is possible to make the vehicle 1 easy to ride and excellent in drivability in both cases of standing and sitting.

  Further, in the present embodiment, when the base body 2 is viewed from the side, the step portion 5 is attached so as to intersect the vehicle axis T connecting the center of gravity (wheel center) G1 of the wheel body 3 and the vehicle center of gravity G2. ing. Therefore, regardless of whether the passenger P rides in the standing or sitting state using the step unit 5, the position of the center of gravity of the passenger P easily matches the vehicle axis T. Therefore, the passenger P can easily balance and can drive in a more stable state.

Moreover, as shown in FIG. 1, since the seating part 6 can be accommodated in the base | substrate 2, when driving | running in a standing state, it can drive | operate without minding the seating part 6. FIG. Therefore, it is very easy to drive.
Further, as shown in FIG. 3, in addition to the seating portion 6, the step portion 5 can be stored in the base 2, so that the vehicle 1 can be made compact when not in use or stored. Therefore, storage and the like can be performed even in a narrow space, and convenience can be improved. Moreover, when carrying around, it can carry without interfering with the seating part 6 or the step part 5, and without worrying about these. Therefore, it is easy to handle in this respect, and convenience can be improved.

  The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the embodiment described above, the case where the floor surface is configured to be movable in all directions has been described as an example. However, it may be designed to be capable of turning in the front-rear direction L1 and not in all directions. . That is, it may not be movable in the left-right direction L2.

Moreover, in the said embodiment, although comprised so that the auxiliary | assistant step part 20 could be expand | deployed ahead which is the toe side of a foot | leg part, it is not restricted to the front, For example, it comprised so that it could expand | deploy in the left-right direction L2. It doesn't matter. In any case, it may be configured to be developed at least in the horizontal direction.
Further, the auxiliary step portion 20 is deployed forward by rotating, but is not limited to this case. For example, the auxiliary step portion 20 may be deployed forward by pulling the auxiliary step portion 20 out of the step portion 5 by sliding movement. .

Further, in the above embodiment, the auxiliary step 20 that can be expanded in the horizontal direction is provided. However, the auxiliary step unit 20 is not provided, and the step unit 5 itself is designed to be movable at least in the horizontal direction. It doesn't matter.
Even in this case, by changing the position of the step part 5 between standing and sitting, the position of the footrest where the foot is placed can be changed to the optimum position according to each posture. . Accordingly, when sitting and riding, it is possible to make the feet easier than before and to ride without feeling cramped. Therefore, the drivability of the vehicle 1 can be improved as in the above embodiment.

  Even in this case, the step portion 5 is preferably configured to be movable in the front-rear direction L1, but may be configured to be movable in the left-right direction L2. Further, it is more preferable to provide a fixing means for fixing the step portion 5 at the position after the step portion 5 is moved.

Moreover, in the said embodiment, although the annular wheel body 3 was mentioned as an example and demonstrated as an example of a movement operation | movement part, it is not limited to this wheel body 3.
For example, as shown in FIGS. 18 and 19, an annular shaft body 51 and an object to be attached to the annular shaft body 51 so as to be rotatable about a tangential axis of the annular shaft body 51 and to apply a driving force. The wheel body 50 including a plurality of sleeves 52 that come into contact with an object may be used as the moving operation unit.

  More specifically, a large number of inner sleeves 53 are fitted to the annular shaft body 51 so as to be movable in the circumferential direction and not rotatable. Each inner sleeve 53 is rotatably mounted with a sleeve 52 formed by integrally coupling a metal bearing 54. The sleeve 52 is a free roller that comes into contact with an object to which a driving force is applied, and is attached to the annular shaft body 51 in a daisy chain, and each is around the tangential axis of the annular shaft body 51, that is, each sleeve 52 itself. It can be rotated around the axis.

  The center of the cross section of the wheel body 50 in such a configuration is obtained by connecting the rotation axes of the sleeves 52 in a ring shape, and the rotation of the wheel body 50 around the axis is the rotation (spinning) of the sleeve 52 itself. ).

  In the wheel body 50 configured as described above, the sleeve 52 rotates around the annular shaft body 51 (around the center of the cross section) due to contact with the free roller 43 that rotates together with the rotating member 40, and is driven in the left-right direction L2. A force can be applied to the floor surface G, and a driving force in the front-rear direction L <b> 1 can be applied to the floor surface G by the circumferential movement caused by the rotation of the entire wheel body 50. Therefore, even the wheel body 50 configured as described above can move on the floor surface G in all directions, and the same effects can be obtained.

G1: Center of gravity of the moving operation unit G2: Center of gravity of the vehicle T: Vehicle axis
DESCRIPTION OF SYMBOLS 1 ... Inverted pendulum type vehicle 2 ... Base | substrate 3, 50 ... Wheel body (moving operation part)
4. Actuator device (drive unit)
5 ... Step part 6 ... Seating part 20 ... Auxiliary step part

Claims (7)

An inverted vehicle that can select both standing and sitting,
A substrate;
A moving operation unit connected to the base body movably on the floor and moving the base body in a desired direction;
A drive unit disposed on the base body and driving the moving operation unit;
A step part that is attached to each of the left and right sides of the base body, and on which the occupant places the foot part while straddling the base body;
A seating portion attached to an upper portion of the base body and seatable by the occupant;
The step portion is attached so as to be movable at least in the horizontal direction, is positioned substantially immediately above the grounding point of the moving operation portion when standing, and is movable to a position different from the position when sitting. inverted pendulum type vehicle, characterized in that there. The inverted pendulum type vehicle according to claim 1,
The step portion is attached so as to cross a vehicle axis line connecting the center of gravity of the moving operation portion and the center of gravity of the entire vehicle when the base body is viewed from the side, and toward the toe side of the foot portion. An inverted pendulum type vehicle characterized by being mounted so as to be movable. An inverted vehicle that can select both standing and sitting,
A substrate;
A moving operation unit connected to the base body movably on the floor and moving the base body in a desired direction;
A drive unit disposed on the base body and driving the moving operation unit;
A step unit that is mounted on each of the left and right sides of the base body in a state of being positioned directly above the grounding point of the moving operation unit, and a rider places a foot part while straddling the base body;
A seating portion attached to an upper portion of the base body and seatable by the occupant;
The step portion is provided with an auxiliary step that can be expanded at least in the horizontal direction ,
The inverted pendulum type vehicle is characterized in that the auxiliary step is positioned substantially directly above a grounding point of the moving operation unit when standing and riding and can be deployed to a position different from the position when sitting. . The inverted pendulum type vehicle according to claim 3,
The step portion is attached so as to cross a vehicle axis line connecting the center of gravity of the moving operation unit and the center of gravity of the entire vehicle when the base is viewed from the side.
The inverted pendulum type vehicle, wherein the auxiliary step is provided in the step portion so as to be deployable toward a toe side of the foot portion. The inverted pendulum type vehicle according to any one of claims 1 to 4,
The base body is formed of a lower frame to which the step portion is attached and an upper frame to which the seat portion is attached, and the upper frame is rearward of the lower frame when standing and sitting. It is assumed to be a tilted posture after falling down,
The stepped part is an inverted pendulum type vehicle characterized in that a step surface on which the foot is placed is substantially parallel to the floor surface in the backward tilt posture. The inverted pendulum type vehicle according to any one of claims 1 to 5 ,
The inverted pendulum type vehicle characterized in that the seating part is attached to the base so as to be housed. The inverted pendulum type vehicle according to claim 6 ,
The inverted pendulum type vehicle characterized in that the step portion is attached to the base so as to be housed.

Images