JP5892097B2 - Coaxial motorcycle - Google Patents

Coaxial motorcycle Download PDF

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JP5892097B2
JP5892097B2 JP2013062104A JP2013062104A JP5892097B2 JP 5892097 B2 JP5892097 B2 JP 5892097B2 JP 2013062104 A JP2013062104 A JP 2013062104A JP 2013062104 A JP2013062104 A JP 2013062104A JP 5892097 B2 JP5892097 B2 JP 5892097B2
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reaction force
link mechanism
coaxial
parallel link
left
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JP2014184904A (en
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和宏 新谷
和宏 新谷
義美 梶谷
義美 梶谷
涼 村上
涼 村上
雄志 竹内
雄志 竹内
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トヨタ自動車株式会社
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Description

  The present invention relates to a coaxial two-wheeled vehicle, and more particularly to a coaxial two-wheeled vehicle that realizes a turn by connecting a coaxially arranged wheel to a parallel link mechanism and displacing the parallel link mechanism in a lateral direction from a predetermined neutral state.

  The coaxial two-wheeled vehicle is provided on the vehicle body so that the left and right wheels arranged on the same axis can be driven. The coaxial two-wheel vehicle realizes turning by changing the rotational speeds of the left and right wheels in accordance with the operation of the user (passenger).

  FIG. 8 is a front view schematically showing a state in the vicinity of the vehicle body when the coaxial two-wheeled vehicle of Patent Document 1 goes straight. As shown in FIG. 8, the coaxial two-wheeled vehicle 100 includes a parallel link mechanism 101 that forms a vehicle body. The parallel link mechanism 101 can be displaced in the left-right direction of the coaxial two-wheeled vehicle 100, and a reaction force is applied to the parallel link mechanism 101 by a pair of reaction force springs 102L and 102R so that the parallel link mechanism 101 is stabilized in the left-right direction. It has been.

  The wheels 103L and 103R are connected to the vertical links 101a and 101b of the parallel link mechanism 101. In addition, step plates 104L and 104R on which the user rides are provided at the upper ends of the vertical links 101a and 101b.

  FIG. 9 is a front view schematically showing a state in the vicinity of the vehicle body when turning in the coaxial two-wheeled vehicle of Patent Document 1. FIG. As shown in FIG. 9, when the coaxial two-wheeled vehicle 100 turns, the opposing links 101a and 101b and 101c and 101d of the parallel link mechanism 101 rotate while maintaining a parallel state. At this time, a reaction force is applied to the parallel link mechanism 101 so that one reaction force spring 102L or 102R is compressed and the parallel link mechanism 101 returns to the neutral state.

Japanese Patent No. 5062361

  By the way, the coaxial two-wheeled vehicle 100 of patent document 1 may be used in order to train balance ability, for example. At this time, it is necessary to adjust the reaction force applied to the parallel link mechanism 101 according to the progress of the training. Moreover, it is preferable that the reaction force applied to the parallel link mechanism 101 can be adjusted according to the user, not limited to the case of using a coaxial two-wheeled vehicle for training balance ability.

  However, the coaxial two-wheeled vehicle 100 of Patent Document 1 cannot adjust the magnitude of the reaction force applied to the parallel link mechanism 101 unless the reaction force springs 102L and 102R are replaced. For this reason, it is not easy to adjust the magnitude of the reaction force applied to the parallel link mechanism 101.

  An object of the present invention is to provide a coaxial two-wheel vehicle in which the magnitude of the reaction force applied to the parallel link mechanism can be easily adjusted.

  A coaxial two-wheeled vehicle according to an aspect of the present invention is configured such that a coaxially arranged wheel is supported via a parallel link mechanism and can be rotated by a drive unit, and a step plate for carrying a passenger is placed on the parallel link mechanism. The parallel link mechanism is connected to be moved in the left-right direction from a predetermined neutral state in conjunction with a load acting on the step plate, thereby realizing the turning of the coaxial two-wheel vehicle. A reaction force application unit that applies a reaction force to the displacement in the left-right direction from the neutral state, and an adjustment unit that adjusts the magnitude of the reaction force applied by the reaction force application unit.

  In the coaxial two-wheeled vehicle, the adjusting unit adjusts the reaction force applying unit to apply a first reaction force to the parallel link mechanism when the moving speed of the coaxial two-wheeled vehicle is equal to or higher than a first speed, When the moving speed of the coaxial two-wheeled vehicle becomes less than the first speed, it is preferable that the reaction force applying unit adjusts the second link force that is smaller than the first reaction force to the parallel link mechanism.

  In the above-described coaxial two-wheeled vehicle, when the moving speed of the coaxial two-wheeled vehicle becomes substantially zero, the adjusting unit is configured to reduce a reaction force applied by the reaction force applying unit so as to substantially restrain the rotation of the parallel link mechanism in the left-right direction. It is preferable to adjust the size.

  In the above-described coaxial two-wheeled vehicle, when the displacement amount in the left-right direction from the predetermined neutral state of the parallel link mechanism becomes equal to or greater than the first displacement amount, the reaction force application unit causes the reaction force application unit to generate the third reaction force. When the parallel link mechanism is adjusted to give to the parallel link mechanism, and the displacement amount in the left-right direction from the predetermined neutral state of the parallel link mechanism becomes less than the first displacement amount, the reaction force applying portion is smaller than the third reaction force. It is preferable to adjust so as to apply a fourth reaction force to the parallel link mechanism.

  In the above-described coaxial two-wheeled vehicle, the adjustment unit adjusts the reaction force applying unit to apply a fifth reaction force to the parallel link mechanism when the vertical acceleration of the coaxial two-wheel vehicle becomes equal to or higher than the first acceleration. When the acceleration in the vertical direction of the coaxial two-wheeled vehicle becomes less than the first acceleration, the reaction force applying unit adjusts so that the sixth reaction force smaller than the fifth reaction force is applied to the parallel link mechanism. It is preferable to do.

  As described above, according to the present invention, it is possible to provide a coaxial two-wheeled vehicle that can easily adjust the magnitude of the reaction force applied to the parallel link mechanism.

FIG. 3 is a front view schematically showing the vicinity of the vehicle body when the coaxial two-wheeled vehicle of the first embodiment goes straight. FIG. 2 is a control system block diagram of the coaxial two-wheel vehicle according to the first embodiment. FIG. 3 is a front view schematically showing the vicinity of the vehicle body when turning the coaxial two-wheel vehicle according to the first embodiment. FIG. 5 is a control system block diagram of a coaxial two-wheeled vehicle according to a third embodiment. It is a figure which shows schematically the reaction force provision part and adjustment part of Embodiment 6. FIG. It is a figure which shows schematically the reaction force provision part and adjustment part of Embodiment 6 when a parallel link mechanism displaces to the left-right direction from a predetermined neutral state. It is a figure which shows schematically the reaction force provision part and adjustment part of Embodiment 6 when a parallel link mechanism returns to a predetermined neutral state. FIG. 6 is a front view schematically showing a state in the vicinity of a vehicle body when the coaxial two-wheeled vehicle of Patent Document 1 is traveling straight ahead. FIG. 10 is a front view schematically showing a state in the vicinity of a vehicle body when turning in a coaxial two-wheeled vehicle of Patent Document 1.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
First, the basic configuration of the coaxial two-wheel vehicle of the present embodiment will be described. Here, FIG. 1 is a front view schematically showing the vicinity of the vehicle body when the coaxial two-wheel vehicle 1 of the present embodiment travels straight. FIG. 2 is a control system block diagram of the coaxial two-wheel vehicle 1 of the present embodiment. FIG. 3 is a front view schematically showing the vicinity of the vehicle body at the time of turning of the coaxial two-wheel vehicle 1 of the present embodiment.

  As shown in FIGS. 1 and 2, the coaxial two-wheeled vehicle 1 includes a vehicle body 2, wheels 3L, 3R, and the like. The vehicle body 2 includes a parallel link mechanism 4, reaction force applying portions 5L and 5R, and step plates 6L and 6R. The parallel link mechanism 4 includes a horizontal link 4a disposed on the upper side, a horizontal link 4b disposed on the lower side, and vertical links 4c and 4d disposed on the left and right sides.

  Bearing portions are formed at the left and right end portions of the horizontal links 4a and 4b with an interval in which the vertical links 4c and 4d are fitted in the front-rear direction. A bearing hole penetrating in the front-rear direction is formed in the bearing portion.

  Further, a fixing jig 4e for the reaction force applying portion 5L is formed at the left end of the horizontal link 4a. A fixing jig 4f for the reaction force application portion 5R is formed at the right end of the horizontal link 4a. These fixing jigs 4e and 4f protrude substantially downward when the parallel link mechanism 4 is in an equilibrium state (that is, the parallel link mechanism 4 is in a neutral state).

  On the other hand, a fixing jig 4g of reaction force applying portions 5L and 5R is formed at a substantially central portion in the left-right direction of the horizontal link 4b. The fixing jig 4g protrudes substantially upward when the parallel link mechanism 4 is in a neutral state.

  The vertical links 4c and 4d are made of flat plate-like members. Bearing holes that penetrate in the front-rear direction are formed in the upper and lower ends of the vertical links 4c, 4d. The vertical links 4c and 4d are arranged at both left and right ends of the horizontal links 4a and 4b arranged up and down. The bearing holes of the vertical links 4c and 4d are arranged on the same axis as the bearing holes of the horizontal links 4a and 4b, and the rotation support pins 7 are inserted so as to penetrate each other.

  The reaction force applying portions 5L and 5R apply a reaction force to displacement in the left-right direction from the neutral state of the parallel link mechanism 4. The reaction force application portions 5L and 5R of the present embodiment are arranged substantially horizontally in the left-right direction when the parallel link mechanism 4 is in a neutral state. In addition, the reaction force applying portions 5L and 5R are arranged symmetrically when the parallel link mechanism 4 is in a neutral state.

  The reaction force applying portions 5L and 5R include so-called dampers. That is, the reaction force applying portions 5L and 5R include a cylinder 8, a piston 9, a rod 10, and the like. The cylinder 8 is filled with liquid or gas as a fluid. One end of the cylinder 8 is rotatably connected to the fixing jig 4g of the lateral link 4b.

  The piston 9 forms two chambers in the cylinder 8. Although not shown in the figure, a communication path is formed in the piston 9 so that a fluid can move between the two chambers. The piston 9 slides in the cylinder 8 and is disposed at a substantially central portion in the left-right direction in the cylinder 8 when the parallel link mechanism 4 is in a neutral state.

  The rod 10 protrudes from the other end of the cylinder 8. One end of the rod 10 is connected to the piston 9, and the other end is rotatably connected to the fixing jig 4e or 4f of the lateral link 4a.

  Thereby, the horizontal links 4a and 4b and the vertical links 4c and 4d constitute a parallel link mechanism 4 that can be displaced in the left-right direction of the coaxial two-wheel vehicle 1, and against the displacement from the neutral position of the parallel link mechanism 4 in the left-right direction. Thus, the reaction force applying portions 5L and 5R are configured to apply the reaction force.

  However, one end portion of the cylinder 8 in the reaction force applying portions 5L and 5R is connected to the fixing jigs 4e and 4f of the horizontal link 4a, and the other end portion of the rod 10 in the reaction force applying portions 5L and 5R is fixed to the horizontal link 4b. You may connect to 4g. Alternatively, the fixing jigs 4e and 4f may be formed on the horizontal link 4b, and the fixing jig 4g may be formed on the horizontal link 4a.

  Drive units 11L and 11R are attached to the outer surfaces of the vertical links 4a and 4b. The drive units 11L and 11R can be configured 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.

  Wheels 3L and 3R are attached to the drive units 11L and 11R. As described above, when the left and right wheels 3L and 3R supported by the vertical links 4c and 4d via the drive units 11L and 11R are placed on a flat road surface, their respective rotation centers are arranged on the same axis. Will be.

  The rotational speeds of these wheels 3L and 3R are detected by the speed detectors 12L and 12R. The speed detection units 12L and 12R include sensors such as an encoder and a resolver, for example.

  The upper ends of the vertical links 4c and 4d protrude upward from the horizontal link 4a, and step plates 6L and 6R are provided substantially horizontally on the upper end surfaces of the vertical links 4c and 4d. Specifically, when the left and right step plates 6L and 6R are placed on the left and right step plates 6L and 6R, the user's load is applied to the ground contact point A of the wheels 3L and 3R. It is provided at the upper end of the vertical links 4c, 4d so as to act on the parallel link mechanism 4 from a position shifted inward from the line N parallel to the vertical links 4c, 4d.

  In the present embodiment, the left and right step plates 6L and 6R each have an inward region from the line N as a footrest portion. As a result, the load of the user riding on the footrest portions of the left and right step plates 6L and 6R acts on the parallel link mechanism 4 from a position shifted inward from the line N. Incidentally, the distance between the left and right step plates 6L, 6R is the distance between both feet when a person stands in a natural state.

  Such a parallel link mechanism 4 maintains a neutral state when the user applies a substantially equal load to the footrest portions of the left and right step plates 6L, 6R. On the other hand, when the user steps on the outer foot in the turning direction and applies a large load W to the step plate 6L or 6R (step plate 6R in FIG. 3) on the side where the foot is stepped on, the force in the turning direction is increased. Occurs in the parallel link mechanism 4. That is, the load W acts downward. At the ground contact point A of the wheels 3L, 3R passing through the point of application B of the load W and on the outer side of the line M parallel to the vertical links 4c, 4d, a reaction force against the load W acts upward.

  Thereby, a force in the turning direction is generated. Therefore, when the user steps on the outer foot in the turning direction, the parallel link mechanism 4 is displaced from the neutral state in the turning direction. At this time, the step plates 6L, 6R and the wheels 3L, 3R are also displaced in the turning direction in conjunction with the displacement from the neutral state of the parallel link mechanism 4 in the left-right direction.

  In order to detect the amount of displacement of the parallel link mechanism 4 (for example, the amount of displacement of the angle of the horizontal link with respect to the vertical link), for example, an angle detector 13 is attached to a connecting portion between the horizontal link and the vertical link. The angle detection unit 13 includes, for example, a potentiometer, a variable capacitor structure sensor, or the like.

  Incidentally, although not shown in the drawing, the coaxial two-wheeled vehicle 1 has a storage portion disposed between the left and right step plates 6L and 6R. The storage portion is formed on a support base 14 that is rotatably connected to a substantially central portion in the left-right direction of the upper and lower horizontal links 4a, 4b of the parallel link mechanism 4.

  The storage unit stores a power source 15, an attitude detection unit 16 that detects the attitude of the coaxial two-wheel vehicle 1, a control unit 17 that outputs control signals for driving and controlling the left and right drive units 11L and 11R, and the like. .

  The control unit 17 executes predetermined calculation processing based on the detection signal from the attitude detection unit 16, the detection signal from the angle detection unit 13, and the like, and outputs necessary control signals to the left and right drive units 11L and 11R. The control unit 17 includes, for example, an arithmetic circuit having a microcomputer (CPU), a storage device having a program memory, a data memory, other RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

  The control unit 17 receives a detection signal from the angle detection unit 13 that detects the amount of displacement of the parallel link mechanism 4 and a detection signal from the attitude detection unit 16. The posture detection unit 16 is used to detect an angular velocity and acceleration during traveling of the coaxial two-wheeled vehicle 1 and control the angular velocity and acceleration, and includes, for example, a gyro sensor and an acceleration sensor.

  When the user rides on the left and right step plates 6L and 6R and steps on the outer foot in the turning direction to apply a load to the step plate 6L or 6R, the coaxial two-wheel vehicle 1 having such a configuration is configured to The opposing link is displaced from the neutral state in the turning direction while maintaining the parallel state. At this time, when the angle detector 13 detects the amount of displacement of the parallel link mechanism 4, the angle detector 13 outputs a detection signal to the controller 17. The control unit 17 to which the detection signal is input performs a predetermined calculation process based on the detection signal, and determines how much the rotational speed of the inner wheel in the turning direction is reduced or the rotation of the outer wheel in the turning direction. Whether to accelerate the speed is calculated, and a control signal indicating the calculation result is output to the drive units 11L and 11R. The drive units 11L and 11R drive the wheels 3L and 3R based on the control signal.

  The coaxial two-wheeled vehicle 1 detects the posture when the user rides on the left and right step plates 6L and 6R, moves the load of the user forward or backward, and displaces the coaxial two-wheeled vehicle 1 from the neutral state in the front-rear direction. The unit 16 detects the angular velocity and acceleration of the coaxial two-wheel vehicle 1 and outputs the detection signal to the control unit 17. The control unit 17 to which the detection signal is input performs a predetermined calculation process based on the detection signal, calculates a driving torque necessary to stabilize the coaxial two-wheel vehicle 1 so as not to fall, and shows the calculation result. A control signal is output to the drive units 11L and 11R. The drive units 11L and 11R drive the wheels 3L and 3R based on the control signal. In this way, traveling forward or backward is realized in accordance with the displacement in the front-rear direction from the neutral state of the coaxial two-wheel vehicle 1 in the front-rear direction.

  Incidentally, at the time of turning and forward / backward traveling as described above, the control unit 17 generates a control signal using the detection signals of the speed detection units 12L and 12R so that the actual rotation speed of the wheel approaches the calculation result. .

  Next, the characteristic part in the coaxial two-wheeled vehicle 1 of this Embodiment is demonstrated. The coaxial two-wheeled vehicle 1 having the above-described configuration cannot adjust the magnitude of the reaction force that the reaction force applying portions 5L and 5R give to the displacement in the left-right direction from the neutral state of the parallel link mechanism 4. Therefore, the coaxial two-wheel vehicle 1 of the present embodiment includes the adjusting unit 18 that adjusts the magnitude of the reaction force that the reaction force applying units 5L and 5R give to the displacement in the left-right direction from the neutral state of the parallel link mechanism 4. .

  The adjusting unit 18 includes a pipe 19, a variable throttle valve 20, and an accumulator 21. The pipe 19 connects the chamber on the other end side of the cylinder 8 in the reaction force application portion 5L and the chamber on the other end side of the cylinder 8 in the reaction force application portion 5R. However, the pipe 19 may connect a chamber on one end portion side of the cylinder 8 in the reaction force applying portion 5L and a chamber on one end portion side of the cylinder 8 in the reaction force applying portion 5R.

  The variable throttle valve 20 is disposed in the path of the pipe 19. As the variable throttle valve 20, a general variable throttle valve can be used. For example, when an electromagnetic variable throttle valve is used, control is easy. The variable throttle valve 20 is controlled based on a control signal input from the control unit 17. A control example of the variable throttle valve 20 will be described later.

  The accumulator 21 is also arranged in the path of the pipe 19. The accumulator 21 functions as a pressure regulator in the pipe 19. As the accumulator 21, a general accumulator can be used.

  Next, a control example of the variable throttle valve 20 will be described. Here, as described above, the coaxial two-wheeled vehicle that moves forward and backward based on the load movement of the user or realizes turning based on the load movement of the right foot or the left foot of the user develops balance ability. Can be used for training.

  In such a case, at the initial stage of training, it is important to first concentrate on developing the balance ability in the front-rear direction and become familiar with the operation of the coaxial two-wheeled vehicle 1. Therefore, the control unit 17 controls the variable throttle valve 20 so that the reaction force applying units 5L and 5R are parallel link mechanisms so that the parallel link mechanism 4 responds insensitive to the input of loads to the step plates 6L and 6R. 4 gives a large reaction force.

  Next, as training progresses, it is preferable to add training to develop balance ability in the left-right direction. Therefore, the control unit 17 controls the variable throttle valve 20 so that the reaction force applying units 5L and 5R are parallel link mechanisms so that the parallel link mechanism 4 responds sensitively to input of loads to the step plates 6L and 6R. 4 A small reaction force is applied to the displacement from the neutral state to the left-right direction.

  Thereby, in order to maintain the neutral state of the parallel link mechanism 4, the user can perform training for balancing so that the loads on both feet act on the step plates 6L and 6R evenly on the left and right.

  In such a coaxial two-wheeled vehicle 1, for example, depending on the progress of training or the like, the magnitude of the reaction force that the reaction force applying portions 5L and 5R give to the displacement in the left-right direction from the neutral state of the parallel link mechanism 4 is Can be adjusted easily. In addition, it is possible to quickly respond to the training of many users.

  Here, as shown in FIG. 1, a throttle valve 22 is preferably provided in the path of the pipe 19. The throttle valve 22 is a reaction force having a magnitude that can substantially restrain displacement in the left-right direction from the neutral state of the parallel link mechanism 4 when the user is not on the step plates 6L, 6R, for example. It is set so that it can be given to the parallel link mechanism 4 via the giving portions 5L and 5R. Thereby, it is possible to prevent the parallel link mechanism 4 from being inadvertently displaced in the left-right direction when the user is not on the step plates 6L, 6R.

<Embodiment 2>
The coaxial two-wheeled vehicle according to the present embodiment is configured to improve the straight running stability. Note that the coaxial two-wheeled vehicle of the present embodiment has a configuration that is substantially the same as that of the first embodiment, and therefore, redundant description is omitted and the same reference numerals are used for the same elements.

  In the present embodiment, the adjusting unit 18 adjusts the reaction force applied to the parallel link mechanism 4 by the reaction force applying units 5L and 5R based on the moving speed of the coaxial two-wheeled vehicle. Specifically, when the moving speed of the coaxial two-wheeled vehicle is equal to or higher than the first speed, the control unit 17 applies the first reaction force to the parallel link mechanism 4 by the reaction force applying units 5L and 5R, and the moving speed of the coaxial two-wheeled vehicle becomes When the speed is less than the first speed, the adjusting unit 18 is controlled so that the reaction force applying units 5L and 5R apply a second reaction force smaller than the first reaction force to the parallel link mechanism 4.

  For example, the control unit 17 controls the adjusting unit 18 so that the reaction force applied to the parallel link mechanism 4 by the reaction force applying units 5L and 5R increases as the moving speed of the coaxial two-wheel vehicle increases. Thereby, the straight running stability of the coaxial two-wheeled vehicle can be improved.

<Embodiment 3>
The coaxial two-wheeled vehicle of the present embodiment is also configured to improve straight running stability. Note that the coaxial two-wheeled vehicle of the present embodiment has a configuration that is substantially the same as that of the first embodiment, and therefore, redundant description is omitted and the same reference numerals are used for the same elements.

  FIG. 4 is a control system block diagram of the coaxial two-wheel vehicle 31 of the present embodiment. As shown in FIG. 4, the coaxial two-wheel vehicle 31 of the present embodiment includes an acceleration detection unit 32 that detects the vertical acceleration of the coaxial two-wheel vehicle 31 in addition to the elements of the coaxial two-wheel vehicle 1 of the first embodiment. .

  The acceleration detection unit 32 outputs a detection signal to the control unit 17. The control unit 17 controls the adjustment unit 18 so that the reaction force application units 5L and 5R apply a reaction force based on the vertical acceleration of the coaxial two-wheel vehicle 31 to the parallel link mechanism 4.

  Specifically, when the acceleration in the vertical direction of the coaxial two-wheel vehicle 31 becomes equal to or higher than the first acceleration, the control unit 17 gives the third reaction force to the parallel link mechanism 4 by the reaction force applying units 5L and 5R. When the vertical acceleration of 31 is less than the first acceleration, the adjustment unit 18 is set so that the reaction force application units 5L and 5R apply a fourth reaction force smaller than the third reaction force to the parallel link mechanism 4. Control.

  For example, the control unit 17 controls the adjustment unit 18 so that the reaction force applied to the parallel link mechanism 4 by the reaction force application units 5L and 5R increases as the acceleration in the vertical direction of the coaxial two-wheel vehicle 31 increases. To do. Thereby, for example, when the road surface is uneven and the behavior of the coaxial two-wheeled vehicle 31 in the vertical direction is large, a large reaction force can be applied to the parallel link mechanism 4, and the straight-line stability of the coaxial two-wheeled vehicle 31 can be improved. .

<Embodiment 4>
The coaxial two-wheel vehicle of the present embodiment is configured to be able to prevent excessive input to the parallel link mechanism. Note that the coaxial two-wheeled vehicle of the present embodiment has a configuration that is substantially the same as that of the first embodiment, and therefore, redundant description is omitted and the same reference numerals are used for the same elements.

  In the present embodiment, the adjusting unit 18 adjusts the reaction force applied to the parallel link mechanism 4 by the reaction force applying units 5L and 5R based on the amount of displacement from the neutral state of the parallel link mechanism 4 in the left-right direction. Specifically, when the amount of displacement from the neutral state of the parallel link mechanism 4 in the left-right direction becomes equal to or greater than the first displacement amount, the control unit 17 causes the reaction force applying units 5L and 5R to apply the fifth reaction force to the parallel link mechanism. 4, when the amount of displacement from the neutral state of the parallel link mechanism 4 in the left-right direction is less than the first displacement amount, the reaction force imparting portions 5L and 5R parallel the sixth reaction force smaller than the fifth reaction force. The adjustment unit 18 is controlled so as to be given to the link mechanism 4.

  For example, when the displacement amount in the left-right direction from the neutral state of the parallel link mechanism 4 is near the maximum displacement amount, the control unit 17 causes the reaction force applying units 5L and 5R to apply a large reaction force to the parallel link mechanism 4. The adjustment unit 18 is controlled. Thereby, the input of an excessive load to the parallel link mechanism 4 near the maximum displacement amount of the parallel link mechanism 4 is prevented, and a smooth operation is possible.

<Embodiment 5>
The coaxial two-wheeled vehicle according to the present embodiment is configured to have improved stability during riding. Note that the coaxial two-wheeled vehicle of the present embodiment has a configuration that is substantially the same as that of the first embodiment, and therefore, redundant description is omitted and the same reference numerals are used for the same elements.

  In the present embodiment, when the moving speed of the coaxial two-wheeled vehicle becomes substantially zero, the adjusting portion 18 has the reaction force applying portions 5L and 5R so as to substantially restrain displacement from the neutral state of the parallel link mechanism 4 in the left-right direction. The reaction force applied to the parallel link mechanism 4 is adjusted.

  Accordingly, the user can get on or get off while the step plates 6L and 6R are stable.

<Embodiment 6>
The coaxial two-wheeled vehicle of the present embodiment is different in the configuration of the adjustment unit. Note that the coaxial two-wheeled vehicle of the present embodiment has a configuration that is substantially the same as that of the first embodiment, and therefore, redundant description is omitted and the same reference numerals are used for the same elements.

  FIG. 5 is a diagram schematically showing the reaction force application units 51L and 51R and the adjustment unit 52 of the present embodiment. In the present embodiment, the reaction force applying portions 51L and 51R are also provided with the cylinder 8, the piston 9 and the rod 10 similarly to the reaction force applying portions 5L and 5R of the first embodiment. In the neutral state, an opening 8a is formed in the portion of the cylinder 8 where the piston 9 is disposed. For example, an opening 8a is formed at a substantially central portion of the cylinder 8 in the left-right direction. The diameter of the opening 8a is smaller than the length (thickness) of the piston 9 in the left-right direction.

  The adjustment unit 52 includes an opening 8 a of the cylinder 8, a piston 9, a check valve 53, an elastic member 54, and a pipe 19. The piston 9 changes the opening ratio of the opening 8 a of the cylinder 8 when sliding in the cylinder 8. The check valve 53 is provided in a chamber on one end side of the cylinder 8. The check valve 53 opens when the chamber on one end side of the cylinder 8 is in a predetermined negative pressure state.

  The elastic member 54 is disposed in a room on one end side of the cylinder 8. One end of the pipe 19 is connected to the opening 8a of the cylinder 8 in the reaction force applying portion 51L, and the other end is connected to the opening 8a of the cylinder 8 in the reaction force applying portion 51R.

  Operations of the reaction force application units 51L and 51R and the adjustment unit 52 will be described. Here, FIG. 6 is a diagram schematically showing the reaction force applying portions 51L and 51R and the adjusting portion 52 of the present embodiment when the parallel link mechanism 4 is displaced in the left-right direction from the neutral state. FIG. 7 is a diagram schematically showing the reaction force application units 51L and 51R and the adjustment unit 52 of the present embodiment when the parallel link mechanism 4 returns to the neutral state.

  As an example, when the neutral parallel link mechanism 4 is displaced to the left side, as shown in FIG. 6, the piston 9 of the reaction force applying portion 51L moves to the left side. At this time, the check valve 53 of the reaction force applying portion 51L is opened, and the piston 9 moves to the left without load. On the other hand, the piston 9 of the reaction force applying portion 51R moves to the left side and pushes in the elastic member 54. Thereby, the elastic member 54 is compressed.

  When the parallel link mechanism 4 tries to return to the neutral state from the displaced state on the left side, as shown in FIG. 7, the piston 9 moves to the right side due to the restoring force of the elastic member 54 of the reaction force applying portion 51R. At this time, the check valve 53 of the reaction force applying portion 51R is opened, and the piston 9 moves to the right without load.

  On the other hand, the piston 9 of the reaction force applying portion 51L also moves to the right side and pushes the gas in the room on the one end portion side of the cylinder 8 from the opening 8a. At this time, as the piston 9 moves to the right side, the opening 8a is gradually covered. Thereby, the outflow amount of the gas exhausted from the opening 8a can be gradually reduced, and the moving speed of the piston 9 to the right side can be reduced. That is, the adjusting unit 52 of the present embodiment adjusts the reaction force of the reaction force applying units 51L and 51R by changing the opening ratio of the opening 8a of the cylinder 8 by the piston 9.

  In the above description, the variable throttle valve and the accumulator are omitted. However, when the same is provided as in the coaxial two-wheel vehicle 1 of the first embodiment, the magnitude of the reaction force applied to the parallel link mechanism 4 can be improved. Can be adjusted.

  The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described configuration, and modifications can be made without departing from the technical idea of the present invention.

  The reaction force application portions 5L and 5R in the above embodiment are horizontally opposed to each other. However, the arrangement is not particularly limited as long as the reaction force application portions 5L and 5R are relatively operated. One end of the force applying portions 5L and 5R may be rotatably connected to the lateral link 4a, and the other end may be rotatably connected to the lateral link 4b.

  In the above embodiment, the magnitude of the reaction force applied to the parallel link mechanism 4 is adjusted using the variable throttle valve, but the mechanism is not particularly limited as long as the magnitude of the reaction force can be adjusted.

  In the above embodiment, the adjustment unit is controlled by the control unit, but the adjustment unit may be controlled manually.

DESCRIPTION OF SYMBOLS 1 Coaxial motorcycle 2 Car body 3L, 3R Wheel 4 Parallel link mechanism 4a, 4b Horizontal link 4c, 4d Vertical link 4e, 4f, 4g Fixing jig 5L, 5R Reaction force provision part 6L, 6R Step plate 7 Rotation support pin 8 Cylinder 8a Opening 8b Opening 9 Piston 10 Rod 11L, 11R Driving unit 12L, 12R Speed detection unit 13 Angle detection unit 14 Support base 15 Power supply 16 Attitude detection unit 17 Control unit 18 Adjustment unit 19 Pipe 20 Variable throttle valve 21 Accumulator 22 Throttle valve 31 Coaxial two-wheeled vehicle 32 Acceleration detecting units 51L and 51R Reaction force applying unit 52 Adjusting unit 53 Check valve 54 Elastic member 100 Coaxial two-wheeled vehicle

Claims (5)

  1. Wheels arranged coaxially are supported via a parallel link mechanism and can be rotated by a drive unit, and a step plate for carrying a passenger is connected to the parallel link mechanism, and a load acting on the step plate The parallel link mechanism is displaced in the left-right direction from a predetermined neutral state in conjunction with the movement of the coaxial two-wheel vehicle,
    A reaction force applying unit that applies a reaction force to a displacement in a left-right direction from a predetermined neutral state of the parallel link mechanism;
    An adjustment unit for adjusting the magnitude of the reaction force applied by the reaction force application unit;
    Coaxial motorcycle with
  2.   The adjusting unit adjusts the reaction force applying unit to apply the first reaction force to the parallel link mechanism when the moving speed of the coaxial two-wheeled vehicle is equal to or higher than the first speed, and the moving speed of the coaxial two-wheeled vehicle is 2. The coaxial two-wheeled vehicle according to claim 1, wherein when the speed is less than the first speed, the reaction force applying unit adjusts the second reaction force smaller than the first reaction force to be applied to the parallel link mechanism.
  3.   The adjusting unit adjusts the magnitude of the reaction force applied by the reaction force applying unit so as to substantially restrain the rotation of the parallel link mechanism in the left-right direction when the moving speed of the coaxial two-wheel vehicle becomes substantially zero. Item 3. The coaxial two-wheeled vehicle according to item 1 or 2.
  4.   When the amount of displacement in the left-right direction from the predetermined neutral state of the parallel link mechanism becomes equal to or greater than the first displacement amount, the adjustment unit applies the third reaction force to the parallel link mechanism. When the amount of displacement from the predetermined neutral state of the parallel link mechanism in the left-right direction is less than the first displacement amount, the reaction force application unit generates a fourth reaction force smaller than the third reaction force. The coaxial two-wheeled vehicle according to any one of claims 1 to 3, wherein the coaxial two-wheel vehicle is adjusted so as to be applied to the parallel link mechanism.
  5.   The adjustment unit adjusts the reaction force applying unit to apply a fifth reaction force to the parallel link mechanism when the vertical acceleration of the coaxial two-wheel vehicle is equal to or higher than the first acceleration, The first to fourth adjustments are made so that when the vertical acceleration becomes less than the first acceleration, the reaction force application unit applies a sixth reaction force smaller than the fifth reaction force to the parallel link mechanism. The coaxial two-wheeled vehicle according to any one of the above.
JP2013062104A 2013-03-25 2013-03-25 Coaxial motorcycle Active JP5892097B2 (en)

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US7275607B2 (en) * 1999-06-04 2007-10-02 Deka Products Limited Partnership Control of a personal transporter based on user position
WO2011111123A1 (en) * 2010-03-12 2011-09-15 トヨタ自動車株式会社 Mobile object

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