JP6589625B2 - Spring constant adjustment method for parallel link mechanism in inverted motorcycle - Google Patents

Description

  The present invention relates to a spring constant adjusting method for a parallel link mechanism in an inverted motorcycle.

  Patent Document 1 discloses an inverted two-wheeled vehicle that is operated to travel by moving the center of gravity leftward or rightward and tilting a step via a parallel link mechanism. Two fluid springs are attached inside the parallel link mechanism. The two fluid springs are attached so as to apply a reaction force to the rotation of the link when the right link or the left link in the parallel link mechanism rotates toward the center of the parallel link mechanism.

JP 2014-184904 A

  The reaction force to be applied may be required to be different in the left and right directions. In order to meet such a requirement, there is a method of adjusting the two springs in the parallel link mechanism so that each has a spring constant. However, in this method, the pressure adjusting device may be repeatedly attached to and detached from one spring and the other spring so that the two springs have appropriate spring constants.

  The method for adjusting the spring constant of the parallel link mechanism in the inverted motorcycle according to the present invention easily adjusts the spring constant.

According to the spring constant adjustment method of the parallel link mechanism in the inverted motorcycle according to the present invention,
A first fluid spring and a second fluid spring that apply a reaction force to the parallel link mechanism when the lean angle is changed by tilting the steering unit;
A flow path connected to the first fluid spring and the second fluid spring and allowing a spring fluid to flow between the first fluid spring and the second fluid spring;
A valve provided in the flow path and blocking or opening the flow path;
Inverted motorcycle with
Opening the flow path;
In a state where the flow path is opened, operating the steering unit to increase a lean angle until reaching a predetermined angle;
Closing the flow path with the lean angle increased until reaching the predetermined angle.
According to such a configuration, the spring constants of the first fluid spring and the second fluid spring can be easily adjusted according to the degree of tilting of the steering unit. Therefore, it is not necessary to repeat attachment and detachment of the pressure adjusting device to the first fluid spring and the second fluid spring, so that the spring constant can be easily adjusted.

  The spring constant adjusting method for the parallel link mechanism in the inverted motorcycle according to the present invention can be easily adjusted.

5 is a flowchart showing a spring constant adjustment method for the parallel link mechanism in the inverted two-wheeled vehicle according to the first embodiment. It is a schematic diagram which shows a parallel link mechanism. It is the schematic which shows a parallel link mechanism. It is the schematic which shows the principal part of a parallel link mechanism. It is the schematic which shows operation | movement of the principal part of a parallel link mechanism. It is a schematic diagram showing an example of an inverted motorcycle. 6 is a flowchart illustrating a spring constant adjustment method for a parallel link mechanism in an inverted two-wheeled vehicle according to a second embodiment. 10 is a table showing a state of a fluid spring in each step of an example of a method for adjusting a spring constant of a parallel link mechanism in an inverted motorcycle according to a second embodiment.

Embodiment 1
With reference to FIGS. 1-5, the spring constant adjustment method of the parallel link mechanism in the inverted two-wheeled vehicle which concerns on Embodiment 1 is demonstrated. 1 is a flowchart showing a spring constant adjustment method for a parallel link mechanism in an inverted two-wheeled vehicle according to Embodiment 1. FIG. FIG. 2 is a schematic diagram showing a parallel link mechanism. FIG. 3 is a schematic view showing a parallel link mechanism. FIG. 4 is a schematic view showing a main part of the parallel link mechanism. FIG. 5 is a schematic view showing the operation of the main part of the parallel link mechanism.

(Configuration of parallel link mechanism)
The spring constant adjustment method for the parallel link mechanism in the inverted two-wheeled vehicle according to the first embodiment can be applied to the parallel link mechanism 10 shown in FIG.

  The parallel link mechanism 10 includes a parallel link 1, fluid springs 21 and 22, and step plates 51 and 52. The parallel link 1 includes a right link 1a, a left link 1b, an upper link 1c, and a lower link 1d. The parallel link mechanism 10 is mounted on an inverted motorcycle (not shown).

  One end of the right link 1a and one end of the lower link 1d are connected to each other so as to be rotatable. A connection point where the right link 1a and the lower link 1d are connected is referred to as a joint 1ad. The other end of the right link 1a supports a step plate 51. The step plate 51 is a plate body that extends toward the center of the upper link 1c, and has a mechanical strength that can support the foot of the operator U1. And having an area. One end of the upper link 1c is connected to the other end of the right link 1a and the joint 1ad so as to be rotatable. A connection point where the right link 1a and the upper link 1c are connected is referred to as a joint 1ac.

  One end of the left link 1b and the other end of the lower link 1d are connected to each other so as to be rotatable. A connection point where the left link 1b and the lower link 1d are connected is referred to as a joint 1bd. The other end of the left link 1b supports a step plate 52, and the step plate 52 is a plate body extending toward the center of the upper link 1c, and has a mechanical strength that can support the foot of the operator U1. And having an area. The other end of the upper link 1c is rotatably connected to the other end of the left link 1b and the joint 1bd. A connection point where the left link 1b and the upper link 1c are connected is referred to as a joint 1bc.

  As described above, the right link 1a, the upper link 1c, the left link 1b, and the lower link 1d are rotatably connected at the joint 1ac, the joint 1bc, the joint 1bd, and the joint 1ad. ing. Therefore, even if the right link 1a, the left link 1b, the upper link 1c, and the lower link 1d are respectively rotated, the parallel link 1 is deformed in a parallelogram shape.

  The fluid springs 21 and 22 are disposed inside the parallel link 1. Specifically, the fluid springs 21 and 22 are supported by a fluid spring support portion 23 extending from the vicinity of the center portion of the lower link 1d toward the upper link 1c. The fluid spring 21 is supported on the right link 1 a side in the fluid spring support portion 23, and the fluid spring 22 is supported on the left link 1 b side in the fluid spring support portion 23.

  The pipe 3 connects the fluid spring 21 and the fluid spring 22, and causes the spring fluid to flow between the fluid spring 21 and the fluid spring 22. The spring fluid is a gas or a liquid, such as air or silicone rubber. The valve 4 is provided midway from the fluid spring 21 to the fluid spring 22 in the pipe 3, and is shut off or opened. In addition, the pipe | tube 3 should just connect the fluid spring 21 and the fluid spring 22, and should just be the flow path which can distribute | circulate the fluid for springs between the fluid spring 21 and the fluid spring 22. FIG.

  A more specific configuration will be described. As shown in FIG. 3, the parallel link mechanism 10 may further include a right load receiving portion 61 and a left load receiving portion 62. The right load receiving portion 61 is provided so as to protrude toward the fluid spring 21 in the vicinity of the center of the right link 1a. The left load receiving portion 62 is provided so as to protrude toward the fluid spring 22 in the vicinity of the center of the left link 1b.

  As shown in FIGS. 3 and 4, the fluid spring 21 includes a cylinder 21a, a stopper 21b, and a piston rod 21c. The fluid spring support 23 includes a right fluid spring support 23a and a left fluid spring support 23b.

  The right fluid spring support portion 23a supports one end of the piston rod 21c so that the piston rod 21c protrudes toward the right link 1a. The piston rod 21c supports the stopper 21b at the other end. The stopper 21b is slidably fitted into the cylinder 21a without leaking the spring fluid. A piston rod 21c is inserted into one end of the cylinder 21a, and is closed so as to confine the stopper 21b inside the cylinder 21a. Therefore, the cylinder 21a can move along the piston rod 21c to the right link 1a side until the stopper 21b contacts one end of the cylinder 21a. The length from the right fluid spring support 23a to the other end of the cylinder 21a varies depending on the movement of the cylinder 21a. The length from the right fluid spring support 23a to the other end of the cylinder 21a when the stopper 21b contacts one end of the cylinder 21a is a natural length L.

  The other end of the cylinder 21a is connected to the pipe 3, and the cylinder 21a is supplied with or discharges the spring fluid via the pipe 3. The amount of spring fluid in the cylinder 21a is determined according to the position of the cylinder 21a. The cylinder 21a may have a connection port (not shown) that can be connected to a pressure adjusting device such as a pump.

  Similarly, the fluid spring 22 has the same configuration as that of the fluid spring 21 and is disposed in the left and right direction opposite to the fluid spring 21. The fluid spring 22 includes a cylinder 22a, a stopper 22b, and a piston rod 22c.

  The left fluid spring support 23b supports one end of the piston rod 22c so that the piston rod 22c protrudes toward the left link 1b. The piston rod 22c supports the stopper 22b at the other end. The stopper 22b is slidably fitted into the cylinder 22a without leaking the spring fluid. A piston rod 22c is inserted into one end of the cylinder 22a, and is closed so as to confine the stopper 22b inside the cylinder 22a. Therefore, the cylinder 22a can move along the piston rod 22c to the left link 1b side until the stopper 22b contacts one end of the cylinder 22a. The length from the left fluid spring support 23b to the other end of the cylinder 22a varies depending on the movement of the cylinder 22a. The length from the left fluid spring support 23b to the other end of the cylinder 22a when the stopper 22b contacts one end of the cylinder 22a is a natural length L.

  The other end of the cylinder 22 a is connected to the pipe 3, and the cylinder 22 a supplies or discharges the spring fluid via the pipe 3. The amount of spring fluid in the cylinder 22a is determined according to the position of the cylinder 22a. The cylinder 22a may have a connection port (not shown) that can be connected to a pressure adjusting device such as a pump.

(Spring constant adjustment method for parallel link mechanism)
Next, a method for adjusting the spring constant of the parallel link mechanism will be described.
First, the valve 4 is opened (valve opening step ST1). The tube 3 is opened, and the spring fluid can freely flow between the fluid spring 21 and the fluid spring 22.

  Subsequently, the pressure of the spring fluid in the fluid springs 21 and 22 is changed using the pressure adjusting device, and the spring constants of the fluid springs 21 and 22 are adjusted to a predetermined value (spring constant adjusting step ST2). By connecting the pressure adjusting device to at least one of the fluid spring 21 and the fluid spring 22 and supplying the spring fluid, the pressure in the fluid springs 21 and 22 can be adjusted. Note that the spring constant adjustment step ST2 may be omitted as appropriate.

Subsequently, the lean angle is increased until it reaches a predetermined value by tilting the step plates 51 and 52 in the left-right direction in a direction in which the operator desires to reduce the load (lean angle increasing step ST3).
Here, the lean angle is an angle formed by intersecting the normal of the road surface of the inverted two-wheeled vehicle on which the parallel link mechanism 10 is mounted and the normal of the step plates 51 and 52. Before starting the lean angle increasing step S3, the step plates 51 and 52 are in a neutral state, that is, the lean angle is substantially 0 (zero).
Here, when the operator wants to reduce the load in the right direction, as shown in FIG. 5, when the step plates 51 and 52 (see FIG. 2) are tilted to the right side, the right link 1a and the left link are accompanied accordingly. 1b tilts to the right, the left load receiving portion 62 protrudes, and pushes the cylinder 22a. As a result, the spring fluid is discharged from the cylinder 22 a and the cylinder 22 a moves to the center side of the parallel link mechanism 10. The length from the left fluid spring support 23b to the other end of the cylinder 22a is reduced from the natural length L to L1.

Here, the temperature is preferably constant. When the temperature is constant, Boyle's law is established, the product of volume and pressure becomes constant, and the volume of the spring fluid contained in the cylinder 22a decreases, but the pressure in the cylinder 22a increases. The cylinder 22a applies a reaction force to the left load receiving portion 62.
On the other hand, the pressure in the cylinder 21a increases while the volume of the spring fluid contained in the cylinder 21a remains constant. The pressure in the fluid spring 21 may be a value corresponding to the higher value of the two spring constants desired by the operator.

  As the predetermined value of the lean angle increases, the volume of the spring fluid contained in the cylinder 22a decreases and the pressure in the cylinders 21a and 22a increases. As the predetermined value of the lean angle increases, the difference between the spring constant of the fluid spring 22 and the spring constant of the fluid spring 21 tends to increase after the lean angle zeroing step ST5 (described later).

  Subsequently, the valve 4 is closed (valve closing step ST4). The spring fluid cannot freely flow between the fluid spring 21 and the fluid spring 22.

Finally, the step plates 51 and 52 are returned to the neutral state, and the lean angle is substantially set to 0 (zero lean angle step ST5). The cylinder 22a moves toward the left fluid spring support 23b until the natural length L is reached. Boyle's law is established, the product of volume and pressure becomes constant, and the volume of spring fluid contained in the cylinder 22a increases, but the pressure in the cylinder 22a decreases. The pressure in the cylinder 22a is reduced, and the spring constant of the fluid spring 22 can be reduced in the right direction desired by the operator.
On the other hand, the volume of the spring fluid contained in the cylinder 21a remains constant, and the pressure in the cylinder 21a also remains constant. Therefore, the spring constant of the fluid spring 22 is higher than the spring constant of the fluid spring 21. The pressure in the fluid spring 22 is a value corresponding to the lower value of the two spring constants desired by the operator.

  Therefore, according to the spring constant adjustment method of the parallel link mechanism in the inverted two-wheeled vehicle according to the first embodiment, the spring constants of the fluid spring 21 and the fluid spring 22 are easily adjusted according to the tilting degree of the step plates 51 and 52, respectively. can do. Therefore, it is not necessary to repeat attachment and detachment of the pressure adjusting device to the fluid spring, so that the spring constant can be easily adjusted.

Embodiment 2
Next, a method for adjusting the spring constant of the parallel link mechanism in the inverted motorcycle according to the second embodiment will be described with reference to FIGS. FIG. 6 is a schematic view showing an example of an inverted motorcycle. FIG. 7 is a flowchart showing a spring constant adjustment method for the parallel link mechanism in the inverted two-wheeled vehicle according to the second embodiment. FIG. 8 is a table showing the state of the fluid spring in each step of an example of the spring constant adjusting method for the parallel link mechanism in the inverted two-wheeled vehicle according to the second embodiment.

(Configuration of inverted motorcycle)
The spring constant adjustment method for the parallel link mechanism in the inverted motorcycle according to the first embodiment can be applied to the inverted motorcycle 100 shown in FIG.

    The inverted motorcycle 100 includes a parallel link mechanism 10, a right wheel 71, a left wheel 72, and a handle 8.

  The right wheel 71 is disposed on the right side of the parallel link mechanism 10, and the left wheel 72 is disposed on the left side of the parallel link mechanism 10. The right wheel 71 and the left wheel 72 are rotated by being supplied with driving force by a driving source (not shown).

  One end of the handle 8 is rotatably connected to the vicinity of the center of the lower link 1d. A connection point where the handle 8 and the lower link 1d are connected is referred to as a joint 81d. The other end of the handle 8 supports a grip 8a that can be gripped by the operator. A center portion of the upper link 1c is rotatably connected between one end of the handle 8 and the other end. A connection point where the handle 8 and the upper link 1c are connected is referred to as a joint 81c.

  The inverted two-wheeled vehicle 100 is operated by tilting the step plates 51 and 52 and the handle 8 in the left-right direction while the operator U1 is stepping on the step plates 51 and 52 with his / her foot and holding the grip portion 8a with his / her hand. Is done.

  First, similarly to the valve opening step ST1, the valve 4 is opened (valve opening step ST21).

  Subsequently, similarly to the spring constant adjustment step ST2, the pressure adjustment device is connected to the valve 4 (pressure adjustment device connection step ST22), the pressure of the spring fluid in the fluid springs 21, 22 is changed, and the fluid spring 21, The spring constant of 22 is adjusted to a predetermined value (spring constant adjusting step ST23).

  Subsequently, it is confirmed whether or not the set values of the spring constants of the fluid springs 21 and 22 are equal (spring constant confirmation step ST24). When the left and right muscle masses of the operator are different, the spring constants of the fluid springs 21 and 22 are preferably unequal.

  When it is confirmed that the set values of the spring constants of the fluid springs 21 and 22 are equal (YES: spring constant confirmation step ST24), the valve 4 is closed (valve closing step ST25). The adjustment of the spring constant of the parallel link mechanism 10 in the inverted motorcycle 100 is completed.

  On the other hand, when it is confirmed that the set values of the spring constants of the fluid springs 21 and 22 are not equal but uneven (NO: spring constant confirmation step ST24), the left and right directions are the same as in the lean angle increasing step ST3. Of these, the lean angle is increased until reaching a predetermined value by tilting the step plates 51 and 52 and the handle 8 in the direction in which the load is desired to be decreased (lean angle increasing step ST26).

  Subsequently, the valve 4 is closed similarly to the valve closing step ST4 (valve closing step ST27).

  Subsequently, it is determined whether or not the spring constant of the fluid spring in the direction in which the load reduction is desired is appropriate among the fluid springs 21 and 22 (spring constant confirmation step ST28). Specifically, if the pressure values of the fluid springs 21 and 22 are unequal, it may be determined to be appropriate, otherwise it may be determined to be not. Further, the operator U1 may intuitively determine whether or not it is good based on the operational feeling of operating the step plates 51 and 52 and the handle 8.

  Of the fluid springs 21 and 22, when it is determined that the spring constant of the fluid spring in the direction in which the load is desired to be reduced is appropriate (YES: spring constant confirmation step ST28), as in the lean angle nulling step ST5, the step plate 51, 52 is returned to the neutral state, and the lean angle is substantially set to 0 (zero) (lean angle nulling step ST29). The adjustment of the spring constant of the parallel link mechanism 10 in the inverted motorcycle 100 is completed.

  When it is determined that the spring constant of the fluid springs 21 and 22 in the direction in which the load is desired to be reduced is not appropriate (NO: spring constant confirmation step ST28), the valve 4 is opened again (valve reopening step). ST30), the process returns to the lean angle increasing step ST26.

(Example)
Next, an example in which the spring constant of the parallel link mechanism in the inverted motorcycle is adjusted using the spring constant adjustment method of the parallel link mechanism in the inverted motorcycle according to the first embodiment will be described. The pressure and volume in the fluid springs 21 and 22 were calculated and shown in FIG. In the lean angle zeroing step ST29, the pressure values in the fluid springs 22 and 21 are 5.33 atm (= 540062. 3 Pa) and 10.67 atm (= 1081138 Pa), respectively. Conversion of the unit atm and the unit Pa was obtained using the following conversion formula 1.
1 atm = 101325 Pa (conversion formula 1)
Since the value of the pressure in the fluid spring 22 is lower than the value of the pressure in the fluid spring 21, the spring constant of the fluid spring 22 is lower than that of the fluid spring 21, and the operator moves the step plate or the like in the right direction. The load on the operator when tilting to the lower is reduced.

  As described above, according to the spring constant adjustment method for the parallel link mechanism in the inverted two-wheeled vehicle according to the first embodiment, the spring constants of the fluid spring 21 and the fluid spring 22 are easily adjusted according to the degree of inclination of the step plates 51 and 52, respectively. can do. Therefore, it is not necessary to repeat attachment and detachment of the pressure adjusting device to the fluid spring, so that the spring constant can be easily adjusted.

  Further, since the spring constant is adjusted based on an operation by the operator such as tilting the step or tilting the handle, the operator can make an adjustment intuitively.

  Further, by adjusting the two fluid springs to have different spring constants, an operator having a difference in the left and right muscle mass can perform effective balance training.

  By the way, there exists a parallel link mechanism which has the same structure as the parallel link mechanism 10 except the place which has a metal spring instead of the fluid springs 21 and 22. FIG. Such a parallel link mechanism requires a plurality of metal springs having different spring constant values in order to change the spring constant. Further, it is necessary to attach and detach the metal spring to and from the parallel link mechanism and to get on and off the operator. The parallel link mechanism 10 can easily adjust the spring constant as compared with such a parallel link mechanism.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, the parallel link mechanism 10 in the inverted two-wheeled vehicle according to the first embodiment includes the step plates 51 and 52, but it is only necessary to have a steering unit that changes the lean angle by tilting the operator in the left-right direction. For example, the operator may have at least one of a handle and a step plate that can be gripped by the hand.

100 Inverted motorcycle 10 Parallel link mechanism 3 Tube 4 Valve 8 Handle 21, 22 Fluid spring 51, 52 Step plate ST1, ST21 Valve opening step ST3, ST26 Lean angle increasing step ST4, ST25, ST27 Valve closing step

Claims (1)

A first fluid spring and a second fluid spring that apply a reaction force to the parallel link mechanism when the lean angle is changed by tilting the steering unit;
A flow path that is connected to the first fluid spring and the second fluid spring and allows a spring fluid to flow between the first fluid spring and the second fluid spring;
A valve provided in the flow path and blocking or opening the flow path;
Inverted motorcycle with
Opening the flow path;
In a state where the flow path is opened, operating the steering unit to increase a lean angle until reaching a predetermined angle;
Closing the flow path with the lean angle increased until reaching the predetermined angle,
A spring constant adjusting method for a parallel link mechanism in an inverted motorcycle.

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