JP6997163B2 - Start assist device - Google Patents

Description

The present invention relates to a parking device for parking a saddle-type vehicle and a start assist device for assisting the start of a saddle-type vehicle.

In recent years, a technique has been proposed in which the vehicle itself automatically drives without the occupants driving. Further, a technique has been proposed in which a robot that imitates a human motion is mounted on an existing vehicle and the robot drives the vehicle.

Patent Document 1 discloses a technique in which a robot imitating a human motion is mounted on a two-wheeled vehicle using an internal combustion engine as a drive source, and the robot drives the two-wheeled vehicle. The robot mounted on the two-wheeled vehicle can drive the two-wheeled vehicle by performing driving operations such as steering wheel operation, accelerator operation, brake operation, and gear change operation.

International Publication No. 2017/070426

When parking a vehicle that does not stand on its own when stopped, such as a two-wheeled vehicle, the side stand, center stand, outrigger, etc. are used to make the vehicle stand on its own. On the other hand, even when the vehicle does not have such a stand, an outrigger, or other mechanism for making the vehicle self-supporting, it is desired that the vehicle be parked without falling. For example, in a two-wheeled vehicle that performs automatic driving as described above, it is desired to park the vehicle without using a mechanism for making the vehicle independent, such as a stand and an outrigger.

The present invention provides a parking device capable of parking a vehicle without using a mechanism such as a stand and an outrigger for making the vehicle self-supporting. Further, the present invention provides a start assist device for assisting the start of a saddle-mounted vehicle.

The parking device according to the embodiment of the present invention is a parking device for parking a saddle-mounted vehicle, and is an arm that supports the vehicle, an actuator that moves the position of the arm, and a control that controls the operation of the actuator. The control device includes a device, and the control device controls the actuator to bring the arm closer to the vehicle in response to the vehicle's entry into the parking device.

In certain embodiments, the parking device further comprises a speed sensor used to detect the traveling speed of the vehicle entering the parking device, the control device according to the detected traveling speed of the vehicle, the arm. You may change the timing to start the movement of.

In certain embodiments, the control device may delay the timing of starting the movement of the arm when the speed of the detected vehicle is low, as compared with the case where the speed of the detected vehicle is high.

In certain embodiments, the parking device further comprises a speed sensor used to detect the traveling speed of the vehicle entering the parking device, the control device according to the detected traveling speed of the vehicle, the arm. You may change the movement speed of.

In certain embodiments, the control device may make the moving speed of the arm slower when the detected vehicle speed is lower than when it is higher.

In certain embodiments, the parking device further comprises a contact sensor used to detect the presence or absence of contact of the arm with the vehicle, and the control device detects contact of the arm with the vehicle. The movement of the arm may be stopped.

In certain embodiments, the parking device further comprises a distance sensor used to detect the distance between the arm and the vehicle, and the control device is such that the distance between the arm and the vehicle is less than a predetermined value. Then, the moving speed of the arm may be reduced.

In one embodiment, the parking device includes a first arm and a second arm as the arms, and as the actuators, a first actuator for moving the first arm and a second actuator for moving the second arm. The control device includes an actuator, and the control device controls the first actuator to bring the first arm closer to the vehicle from the left direction of the vehicle, and controls the second actuator to move the second arm to the vehicle. You may approach the vehicle from the right direction.

In certain embodiments, the parking device further comprises a position sensor used to detect the vehicle's approach position to the parking device, the control device according to the detected vehicle's approach position, the first. The moving speed of the arm and the second arm or the timing at which the movement is started may be set respectively.

In one embodiment, when the detected approach position of the vehicle is biased to the left side of the right side of the parking device, the control device makes the moving speed of the first arm smaller than that of the second arm. Alternatively, the timing at which the movement of the first arm is started may be delayed from that of the second arm.

In certain embodiments, the control device calculates the distance between the first arm and the second arm based on the amount of movement of the first actuator and the second actuator, and the control device is said to be the control device. When the distance between the first arm and the second arm becomes less than a predetermined value, the movement of the first arm and the second arm may be stopped.

The start assist device according to the embodiment of the present invention includes a first rail on which the first spool of the saddle-type vehicle rides, a second rail on which the second spool of the saddle-type vehicle rides, and the first rail. A first jack for supporting and a second jack for supporting the second rail are provided, the height of the first rail can be adjusted by the first jack, and the height of the second rail is adjusted by the second jack. Is adjustable.

In certain embodiments, the longitudinal direction of the first rail and the longitudinal direction of the second rail are parallel to each other, and the saddle-type vehicle can move along the longitudinal directions of the first and second rails. May be.

In certain embodiments, the first rail may have a recess into which the first spool fits, and the second rail may have a recess into which the second spool fits.

In certain embodiments, at least a portion of the first rail may have a tapered shape and at least a portion of the second rail may have a tapered shape.

In the parking device according to the embodiment of the present invention, the arm supporting the vehicle is brought closer to the vehicle in response to the entry of the saddle-type vehicle into the parking device. By being supported by the arm, the saddle-mounted vehicle can maintain a stopped state in a standing posture without falling. As a result, the vehicle can be parked without using a mechanism for making the vehicle independent, such as a side stand, a center stand, and an outrigger.

It is a top view which shows the parking device which concerns on embodiment of this invention. It is a rear view which shows the parking device which concerns on embodiment of this invention. It is a figure which shows the mode that the arm which concerns on embodiment of this invention moves. It is a figure which shows the mode that the arm which concerns on embodiment of this invention moves. It is a figure which shows the mode that the arm which concerns on embodiment of this invention moves. It is a figure which shows the arm which concerns on embodiment of this invention. It is a figure which shows the control device provided in the parking device which concerns on embodiment of this invention. It is a flowchart which shows the process which controls the operation of the actuator which concerns on embodiment of this invention. It is a flowchart which shows the process which controls the actuator which concerns on embodiment of this invention. (A) to (l) are timing charts showing control of the actuator according to the embodiment of the present invention. It is a figure which shows the mode that the arm moves according to the approach of the vehicle into the parking device which concerns on embodiment of this invention. It is a figure which shows the mode that the arm moves according to the approach of the vehicle into the parking device which concerns on embodiment of this invention. It is a figure which shows the mode that the arm moves according to the approach of the vehicle into the parking device which concerns on embodiment of this invention. It is a figure which shows the mode that the arm moves according to the approach of the vehicle into the parking device which concerns on embodiment of this invention. It is a figure which shows the mode that the arm moves according to the approach of the vehicle into the parking device which concerns on embodiment of this invention. (A) to (l) are timing charts showing another example of actuator control according to the embodiment of the present invention. It is a perspective view which shows the parking device provided with the robot arm which concerns on embodiment of this invention. It is a perspective view which shows the parking device provided with the robot arm which concerns on embodiment of this invention. It is a top view which shows the parking device provided with the robot arm which concerns on embodiment of this invention. It is a rear view which shows the parking device provided with the robot arm which concerns on embodiment of this invention. It is a perspective view which shows the parking device which concerns on embodiment of this invention. It is a side view which shows the rear part of the saddle type vehicle which concerns on embodiment of this invention. It is a figure which shows the spool provided in the saddle-mounted vehicle which concerns on embodiment of this invention. It is a figure which shows the saddle-riding type vehicle parked by using the parking device which concerns on embodiment of this invention. It is a figure which shows the jig used for the operation of the jack of the parking device which concerns on embodiment of this invention. It is a figure which shows the saddle-type vehicle which starts and moves forward from the parking device which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Similar reference numerals are given to similar components, and the description thereof will be omitted if they are duplicated. The present invention is not limited to the following embodiments.

(Embodiment 1)
FIG. 1 is a top view showing a parking device 1 according to an embodiment of the present invention. The parking device 1 is a device for parking a saddle-mounted vehicle 40.

In the example shown in FIG. 1, the saddle-mounted vehicle 40 is an on-road type motorcycle. The saddle-mounted vehicle 40 according to the embodiment of the present invention is not limited to the on-road type electric motorcycle exemplified here. The saddle-mounted vehicle according to the embodiment of the present invention may be another type of electric motorcycle such as a so-called scooter type, off-road type, or moped type. The drive source for traveling the saddle-type vehicle may be an internal combustion engine, an electric motor, or a hybrid system in which an internal combustion engine and an electric motor are combined. Further, the saddle-mounted vehicle according to the embodiment of the present invention means an arbitrary vehicle on which an occupant straddles, and is not limited to a two-wheeled vehicle. The saddle-mounted vehicle 40 may be a tricycle or the like whose traveling direction is changed by tilting the vehicle body. Further, the saddle-mounted vehicle 40 may be a bicycle. The saddle-mounted vehicle 40 is, for example, a vehicle that does not stand on its own when stopped.

In the following description, unless otherwise specified, the front, rear, left, right, top, and bottom are the front, rear, left, and right as seen from the occupant seated on the seat of the motorcycle 40 parked in the parking device 1, respectively. It shall mean above and below. Above and below mean up and down in the vertical direction when the motorcycle 40 is upright on a horizontal plane. The reference numerals F, Re, L, R, U, and D attached to the drawings indicate front, rear, left, right, top, and bottom, respectively.

The parking device 1 shown in FIG. 1 includes a left base 10 arranged on the left side of the parking device 1, a right base 20 arranged on the right side of the parking device 1, and a front base arranged on the front side of the parking device 1. A stand 30 is provided.

The left base 10 is provided with an arm 12 that can move in the left-right direction with respect to the left base 10. The right base 20 is provided with an arm 22 that can move in the left-right direction with respect to the right base 20. The arms 12 and 22 support the motorcycle 40 when parked.

The front base 30 includes a wall 31 facing the motorcycle 40 located in the parking device 1. The front base 30 includes a damper 32 that supports the wall 31. The damper 32 can be expanded and contracted in the front-rear direction, whereby the wall 31 can be moved in the front-rear direction. By providing the parking device 1 with the damper 32, even if the front wheel 41 of the motorcycle 40 that has entered the parking device 1 comes into contact with the wall 31, the impact can be reduced. The front base 30 can move in the left-right direction along the rail 35. When the motorcycle 40 starts, the motorcycle 40 can move forward by moving the front base 30 in either the left or right direction.

The arm 12 includes a contact member 11 and dampers 13f and 13r at its right end. The arm 22 includes a contact member 21 and dampers 23f and 23r at its left end. When the motorcycle 40 is parked, the contact member 11 of the arm 12 or the contact member 21 of the arm 22 comes into contact with the motorcycle 40. The contact members 11 and 21 have an elastic material such as rubber. Since the contact members 11 and 21 have elasticity, they can serve as a cushion that cushions the impact when the arms 12 and 22 come into contact with the motorcycle 40. Further, the ends of the contact members 11 and 21 have a rounded shape. As a result, it is possible to prevent the contact members 11 and 21 from being caught on the body of the motorcycle 40.

The dampers 13f and 13r of the arm 12 can be expanded and contracted independently of each other. Further, the dampers 23f and 23r of the arm 22 can be expanded and contracted independently of each other. As a result, even when the motorcycle 40 enters diagonally with respect to the front-rear direction and stops, the contact members 11 and 21 support the motorcycle 40 in a state of facing the direction following the body shape of the motorcycle 40. Can be done.

FIG. 2 is a rear view showing the parking device 1 as viewed from the rear. For the sake of clarity, the inside of the left base 10 and the right base 20 is shown through the inside. Further, the motorcycle 40 is shown through.

The left base 10 includes an actuator 50L for moving the arm 12. The right base 20 includes an actuator 50R for moving the arm 22. The actuators 50L and 50R are, for example, linear actuators that move the arms 12 and 22 in the left-right direction. The mechanism of the actuators 50L and 50R is arbitrary. The actuators 50L and 50R shown in FIG. 2 include a rack and pinion mechanism as an example of the mechanism.

In the example shown in FIG. 2, the actuator 50L includes a pinion gear 51, a rail 52, an electric motor 54, a speed reducer 55, a housing 56, and wheels 57. The pinion gear 51, the electric motor 54, the speed reducer 55, and the wheels 57 are provided in the housing. The rail 52 provided with the rack gear 53 is fixed to the left base 10. The wheel 57 can roll along the rail 52. An arm 12 is attached to the housing 56.

The rotation of the electric motor 54 is decelerated by the speed reducer 55 and transmitted to the pinion gear 51. The rotation of the pinion gear 51 that meshes with the rack gear 53 causes the housing 56 to move in the left-right direction. As a result, the arm 12 can be moved in the left-right direction.

Like the actuator 50L, the actuator 50R includes a pinion gear 51, a rail 52, an electric motor 54, a speed reducer 55, a housing 56, and wheels 57. The rail 52 provided with the rack gear 53 is fixed to the right base 20. An arm 22 is attached to the housing 56. The rotation of the pinion gear 51 that meshes with the rack gear 53 causes the housing 56 to move in the left-right direction. As a result, the arm 22 can be moved in the left-right direction.

3, FIG. 4, and FIG. 5 are views showing how the arms 12 and 22 move. When the motorcycle 40 is not located in the parking device 1, the arm 12 is located on the left side away from the center in the left-right direction of the parking device 1, as shown in FIG. The arm 22 is located on the right side away from the center of the parking device 1 in the left-right direction. When the motorcycle 40 enters the parking device 1, as shown in FIGS. 4 and 5, the actuators 50L and 50R operate to move the arm 12 to the right and the arm 22 to the left. The arms 12 and 22 approaching the motorcycle 40 in the parking device 1 stop before coming into contact with the motorcycle 40. For example, the arms 12 and 22 stop at a distance of several cm (for example, 3 cm) between each of the contact members 11 and 21 and the motorcycle 40. The motorcycle 40 stopped in the parking device 1 comes into contact with or is supported by either the contact member 11 or 21 by tilting to the left or right.

FIG. 6 is a diagram showing arms 12 and 22. Each of the arms 12 and 22 includes a distance sensor 17 and a contact sensor 18. The distance sensor 17 included in the arm 12 is used to detect the distance between the arm 12 and the motorcycle 40. The contact sensor 18 included in the arm 12 is used to detect the presence or absence of contact between the arm 12 and the motorcycle 40. The distance sensor 17 included in the arm 22 is used to detect the distance between the arm 22 and the motorcycle 40.
The contact sensor 18 included in the arm 22 is used to detect the presence or absence of contact between the arm 22 and the motorcycle 40. The type of the distance sensor 17 is arbitrary, and for example, a distance sensor using a light emitting diode or a laser light emitting element can be used. The type of the contact sensor 18 is arbitrary, and for example, a displacement sensor, a pressure sensor, a switch element that is mechanically switched on and off by pressing, and the like can be used. In the example shown in FIG. 6, the distance sensor 17 and the contact sensor 18 are provided on the contact members 11 and 21.

When the arms 12 and 22 are provided with the distance sensor 17, the arms 12 and 22 can be stopped with an arbitrary gap between each of the contact members 11 and 21 and the motorcycle 40. Further, since the arms 12 and 22 are provided with the contact sensor 18, it is possible to detect the contact of the arms 12 and 22 with the motorcycle 40. When either the arm 12 or the 22 comes into contact with the motorcycle 40 traveling in the parking device 1, the contacted arm is immediately stopped, so that the posture of the motorcycle 40 can be suppressed from being disturbed. ..

The actuators 50L and 50R may be provided with a locking mechanism that locks the movement of the mechanism in order to more reliably support the motorcycle 40. For example, an electromagnetic brake may be provided as a lock mechanism. Further, the speed reducer 55 may be provided with a worm gear to prevent the arms 12 and 22 from moving due to the load of the vehicle.

FIG. 7 is a diagram showing a control device 60 included in the parking device 1. The control device 60 is provided, for example, on at least one of the left base 10 and the right base 20. The control device 60 controls the operation of the parking device 1. The control device 60 includes a microcontroller 61 and a memory 62. The memory 62 stores a computer program that defines a procedure for controlling the operation of each part of the parking device 1. The microcontroller 61 reads a computer program from the memory 62 and performs various controls. The driver circuit for driving the actuators 50L and 50R may be provided in the control device 60, or may be provided in each of the actuators 50L and 50R. Further, the microcontroller 61 and the memory 62 may be provided in each of the actuators 50L and 50R.

Output signals of various sensors are input to the control device 60. With reference to FIG. 1, the parking device 1 includes a speed sensor 26 used to detect the traveling speed of the motorcycle 40 entering the parking device 1. In the example shown in FIG. 1, the speed sensor 26 is a phototube switch 26f, 26r. The type of the speed sensor 26 is arbitrary, and for example, a sensor of a type such as a millimeter wave radar or an ultrasonic sonar can be used. Further, a camera may be used as the speed sensor 26, and the speed may be obtained from the change in the image of the motorcycle 40 captured.

In the example shown in FIG. 1, the phototube switches 26f and 26r are provided behind the right base 20. The phototube switch 26f is provided in front of the phototube switch 26r. The distance between the phototube switch 26f and the phototube switch 26r in the front-rear direction is predetermined. The motorcycle 40 enters the parking device 1 from behind the parking device 1. The control device 60 can calculate the traveling speed of the motorcycle 40 by measuring the time from when the traveling motorcycle 40 reaches the position of the phototube switch 26r to when it reaches the position of the phototube switch 26f. can. Further, when three or more phototube switches are arranged along the front-rear direction, the acceleration (deceleration) of the motorcycle 40 can be calculated.

With reference to FIG. 1, the parking device 1 includes position sensors 15 and 25 used to detect a left-right approach position of the motorcycle 40 entering the parking device 1. In the example shown in FIG. 1, the position sensors 15 and 25 are tape switches. The type of the position sensor is arbitrary, and for example, a position sensor using a light emitting diode or a laser light emitting element can be used. Further, a camera may be used as the position sensor, and the approach position may be obtained from the captured image of the motorcycle 40.

In the example shown in FIG. 1, the tape switches 15 and 25 are provided behind the parking device 1. The tape switch 15 is located to the left of the center of the parking device 1 in the left-right direction. The tape switch 25 is located to the right of the center of the parking device 1 in the left-right direction. In the left-right direction, there is a gap between the tape switch 15 and the tape switch 25.

When the motorcycle 40 shifts to the left with respect to the center of the parking device 1 in the left-right direction, the front wheel 41 of the motorcycle 40 steps on the tape switch 15. The loaded tape switch 15 is turned on, and a signal is output to the control device 60. On the other hand, when the motorcycle 40 shifts to the right with respect to the center of the parking device 1 in the left-right direction, the front wheel 41 of the motorcycle 40 steps on the tape switch 25. The loaded tape switch 25 is turned on, and a signal is output to the control device 60. When the approach position of the motorcycle 40 is approximately near the center in the left-right direction of the parking device 1, the front wheels 41 of the motorcycle 40 do not step on either the tape switches 15 and 25, so that the signal is transmitted from the tape switches 15 and 25. Not output. The microcontroller 61 can detect the approach position of the motorcycle 40 according to the presence or absence of signals from the tape switches 15 and 25, respectively.

The inside of the microcontroller 61 in FIG. 7 shows the functional block of the microcontroller 61. The microcontroller 61 sets the speed at which the arms 12 and 22 are moved. The microcontroller 61 estimates, for example, the position where the motorcycle 40 in the parking device 1 stops from the approach speed and the approach position of the motorcycle 40. The timing and moving speed at which the actuators 50L and 50R start operating are set according to the estimated stop position.

Further, the microcontroller 61 controls to stop the arms 12 and 22. When the arms 12 and 22 approach the motorcycle 40 by a predetermined distance, the microcontroller 61 decelerates the actuators 50L and 50R. The microcontroller 61 calculates the distance between the arm 12 and the arm 22 from the amount of movement of the actuators 50L and 50R. When the distance between the arm 12 and the arm 22 becomes equal to or less than a predetermined value, the microcontroller 61 stops the movement of the arm 12 and the arm 22. When the arm 12 or the arm 22 comes into contact with the motorcycle 40, the microcontroller 61 immediately stops the movement of the contacted arm.

8 and 9 are flowcharts showing a process of controlling the operation of the actuators 50L and 50R. FIG. 10 is a timing chart showing the control of the actuators 50L and 50R according to the output signals of various sensors. 11 to 15 are views showing how the arms 12 and 22 move in response to the entry of the motorcycle 40 into the parking device 1.

The horizontal axes of FIGS. 10 (a) to 10 (l) indicate the time. The vertical axis of FIG. 10A shows the output signal of the position sensor (for example, the tape switch 15) arranged on the left side. The vertical axis of FIG. 10B shows the output signal of the position sensor (for example, the tape switch 25) arranged on the right side. The vertical axis of FIG. 10C shows the output signal of the phototube switch 26r. The vertical axis of FIG. 10D shows the output signal of the phototube switch 26f. The vertical axis of FIG. 10E shows the drive signal of the actuator 50L. The vertical axis of FIG. 10F shows the drive signal of the actuator 50R. The vertical axis of FIG. 10 (g) shows the output signal of the distance sensor 17 included in the arm 12. The vertical axis of FIG. 10 (h) shows the output signal of the distance sensor 17 included in the arm 22. The vertical axis of FIG. 10 (i) shows the output signal of the contact sensor 18 included in the arm 12. The vertical axis of FIG. 10 (j) shows the output signal of the contact sensor 18 included in the arm 22. The vertical axis of FIG. 10 (k) shows the set speed of the actuator 50L. The vertical axis of FIG. 10 (l) shows the set speed of the actuator 50R.

FIG. 11 shows a state in which the motorcycle 40 has begun to enter the parking device 1. In the example of the process shown in FIG. 8, first, the approach position of the motorcycle 40 in the left-right direction of the parking device 1 is detected (step S11). The approach position of the motorcycle 40 can be detected by using the tape switches 15 and 25.

When the motorcycle 40 is biased to the left with respect to the center of the parking device 1 in the left-right direction, the microcontroller 61 sets the moving speed of the actuator 50L to a low speed (step S12). As a result, it is possible to prevent the motorcycle 40 and the arm 12 from coming into contact with each other while traveling in the parking device 1 with a bias to the left.

When the motorcycle 40 is biased to the right with respect to the center of the parking device 1 in the left-right direction, the microcontroller 61 sets the moving speed of the actuator 50R to a low speed (step S14). As a result, it is possible to prevent the motorcycle 40 and the arm 22 that are traveling in the parking device 1 from coming into contact with each other.

When the approach position of the motorcycle 40 is approximately near the center in the left-right direction of the parking device 1, the tape switches 15 and 25 are not turned on. In this case, the microcontroller 61 sets the moving speeds of the actuators 50L and 50R as the reference speed (step S13). The magnitude of the reference speed is larger than that at the low speed setting. In the examples shown in FIGS. 10 (a) and 10 (b), the approach position of the motorcycle 40 is approximately the center, and the tape switches 15 and 25 are not in the ON state.

When the motorcycle 40 reaches the position of the phototube switch 26r in the front-rear direction at the time t1 shown in FIG. 10, the phototube switch 26r is turned on (the output signal becomes Hi). At time t2, when the motorcycle 40 reaches the position of the phototube switch 26f as shown in FIG. 12, the phototube switch 26f is turned on (the output signal becomes Hi). The microcontroller 61 calculates the traveling speed of the motorcycle 40 from the time from when the phototube switch 26r is turned on to when the phototube switch 26f is turned on (step S15). For example, the motorcycle 40 enters the parking device 1 at a speed of 15 km / h. At this time, the motorcycle 40, for example, turns off the drive of the internal combustion engine and enters in a state where the transmission stage of the transmission is in low gear. The memory 62 stores in advance the data related to the deceleration in such a vehicle state. The microcontroller 61 can estimate the position where the motorcycle 40 stops from the traveling speed of the motorcycle 40 and the data related to the deceleration.

When the traveling speed of the motorcycle 40 is equal to or higher than a predetermined speed (in the case of high speed), the microcontroller 61 starts the movement of the actuators 50L and 50R at a standard timing. The predetermined speed is, for example, 15 km / h, but is not limited to this value. When the traveling speed of the motorcycle 40 is less than a predetermined speed (in the case of a low speed), the timing for starting the movement of the actuators 50L and 50R is delayed (step S16). As a result, it is possible to prevent the motorcycle 40 running in the parking device 1 from coming into contact with the arms 12 and 22.

By the above processing, the timing and the moving speed at which the movement of the actuators 50L and 50R are started are determined (step S17). In the example shown in FIG. 10, at time t3, the actuators 50L and 50R start moving, and the moving speed is the reference speed. 13 and 14 show that the arm 12 is approaching the motorcycle 40 from the left side of the motorcycle 40, and the arm 22 is approaching the motorcycle 40 from the right side of the motorcycle 40.

FIG. 9 shows an example of the process of stopping the actuators 50L and 50R. The process shown in FIG. 9 can be executed independently for each of the actuators 50L and 50R. In step S21, the microcontroller 61 determines whether or not the arms 12 and 22 are in contact with the motorcycle 40 by using the output signal of the contact sensor 18. When it is detected that at least one of the arms 12 and 22 comes into contact with the motorcycle 40, the microcontroller 61 stops the actuator that moves the contacted arm (step S25). If the arm in contact with the motorcycle 40 continues to move, the posture of the motorcycle 40 may be disturbed. When contact is detected, the movement of the corresponding arm is stopped, so that the posture of the motorcycle 40 can be suppressed from being disturbed.

If no contact is detected, the microcontroller 61 calculates the distance between the arm 12 and the arm 22 from the amount of movement of the actuators 50L and 50R (step S22). When the distance between the arm 12 and the arm 22 is less than a predetermined value, the microcontroller 61 stops the actuators 50L and 50R (step S25). By preventing the gap between the arm 12 and the arm 22 from becoming too narrow, it is possible to prevent the motorcycle 40 running in the parking device 1 from coming into contact with the arms 12 and 22.

When the distance between the arm 12 and the arm 22 is equal to or greater than a predetermined value, the microcontroller 61 detects the distance between the arms 12 and 22 and the motorcycle 40 by using the output signal of the distance sensor 17 (the distance between the arms 12 and 22 and the motorcycle 40). Step S23).

If the detected distance is, for example, equal to or greater than the deceleration threshold shown in FIG. 10, the process returns to step S21. If the detected distance is less than the deceleration threshold, deceleration of the actuator that moves the corresponding arm is started (step S24, time t4), and the detected distance is less than the stop threshold shown in FIG. When it becomes, the actuator is stopped (step S25, time t5).

As shown in FIG. 15, the microcontroller 61 stops the actuators 50L and 50R before the arms 12 and 22 come into contact with the motorcycle 40. For example, the actuators 50L and 50R are stopped when the distance between each of the contact members 11 and 21 and the motorcycle 40 is several cm (for example, 3 cm). The motorcycle 40 stopped in the parking device 1 comes into contact with or is supported by either the contact member 11 or 21 by tilting to the left or right. The motorcycle 40 is supported by the arms 12 and 22 regardless of whether it is tilted to the left or right after stopping, and can maintain the stopped state in a standing posture without falling. As a result, the motorcycle 40 can be parked without using a mechanism for making the motorcycle 40 stand on its own, such as a side stand, a center stand, and an outrigger.

In the example shown in FIG. 8, the moving speed of the actuator 50L or 50R is set to a low speed according to the detected approach position of the motorcycle 40, but the movement of the actuator 50L or 50R is started according to the approaching position. The timing may be delayed. Further, in the example shown in FIG. 8, when the detected speed of the motorcycle 40 is low, the timing for starting the operation of the actuators 50L and 50R is delayed, but the moving speed of the actuators 50L and 50R may be reduced. .. As a result, it is possible to prevent the motorcycle 40 running in the parking device 1 from coming into contact with the arms 12 and 22.

Next, another example of the operation of the parking device 1 will be described with reference to FIG. FIG. 16 shows an operation example of the parking device 1 when the motorcycle 40 enters the parking device 1 in the left-right direction and then rolls to the right.

The horizontal axis of each of FIGS. 16 (a) to 16 (l) indicates the time. The vertical axis of FIG. 16A shows the output signal of the position sensor (for example, the tape switch 15) arranged on the left side. The vertical axis of FIG. 16B shows the output signal of the position sensor (for example, the tape switch 25) arranged on the right side. The vertical axis of FIG. 16C shows the output signal of the phototube switch 26r. The vertical axis of FIG. 16D shows the output signal of the phototube switch 26f. The vertical axis of FIG. 16E shows the drive signal of the actuator 50L. The vertical axis of FIG. 16F shows the drive signal of the actuator 50R. The vertical axis of FIG. 16 (g) shows the output signal of the distance sensor 17 included in the arm 12. The vertical axis of FIG. 16H shows the output signal of the distance sensor 17 included in the arm 22. The vertical axis of FIG. 16 (i) shows the output signal of the contact sensor 18 included in the arm 12. The vertical axis of FIG. 16J shows the output signal of the contact sensor 18 included in the arm 22. The vertical axis of FIG. 16K shows the set speed of the actuator 50L. The vertical axis of FIG. 16 (l) shows the set speed of the actuator 50R.

When the motorcycle 40 is biased to the left and enters the parking device 1, the tape switch 15 is turned on at time t10 (the output signal becomes Hi). The microcontroller 61 sets the moving speed of the actuator 50L to a low speed (step S12 in FIG. 8). Further, in this example, the timing at which the movement of the actuator 50L is started is delayed.

At times t11 and t12, the phototube switches 26r and 26f are turned on in sequence, and the microcontroller 61 calculates the traveling speed of the motorcycle 40. At time t13, the actuator 50R starts moving, and at time t14, the actuator 50L starts moving. When the distance between the arm 22 and the motorcycle 40 becomes less than the deceleration threshold value at time t15, the deceleration of the actuator 50R is started.

In this example, the motorcycle 40 rolls to the right and comes into contact with the arm 22 at time t16. Upon contact, the contact sensor 18 included in the arm 22 is turned ON (the output signal becomes Hi). In response to the output signal of the contact sensor, the microcontroller 61 immediately stops the movement of the actuator 50R. When the distance between the arm 12 and the motorcycle 40 becomes less than the threshold value for deceleration at time t17, the deceleration of the actuator 50L is started, and the actuator 50L is stopped at time t18.

As described above, in the parking device 1 of the present embodiment, even if the approach position and posture of the motorcycle 40 are disturbed, the arms 12 and 22 are moved at an appropriate timing and speed according to the state, and the motorcycle 40 is moved. The motorcycle 40 can be supported at the stopped position.

In the above example, the parking device 1 is provided with two arms 12 and 22, but may be provided with only one of them. For example, in a form in which the motorcycle 40 is set to tilt only to the left when stopped, the arm 22 may be omitted. Further, for example, in a form in which the motorcycle 40 is set to tilt only to the right when stopped, the arm 12 may be omitted.

In the above example, the arms 12 and 22 having a rod shape extending in the left-right direction are exemplified as the arms supporting the motorcycle 40. The type of arm is arbitrary as long as it has a structure capable of supporting the motorcycle 40. For example, the arm that supports the motorcycle 40 may be a robot arm.

17 to 20 are views showing a parking device 1 provided with robotic arms 212 and 222 instead of arms 12 and 22. FIG. 17 is a perspective view of the parking device 1 in which the motorcycle 40 is not arranged. FIG. 18 is a perspective view of the parking device 1 in which the motorcycle 40 is arranged. FIG. 19 is a top view of the parking device 1, and FIG. 20 is a rear view of the parking device 1.

The robot arm 212 is provided on the left base 10, and the robot arm 222 is provided on the right base 20. In this example, each of the robot arms 212 and 222 has multiple joints. As shown in FIG. 19, each joint of the robot arm 222 is provided with an actuator 250 for bending and stretching the joint. Although not shown, each joint of the robot arm 212 is provided with an actuator 250 for bending and stretching the joint, similarly to the robot arm 222. The type of actuator 250 is arbitrary, for example, the actuator 250 has an electric motor and a deceleration mechanism. Since the actuator used to drive the robot arm is known, detailed description thereof will be omitted here.

The robot arm 212 is provided with a contact member 11 and dampers 13f and 13r. The robot arm 222 is provided with a contact member 21 and dampers 23f and 23r. By controlling the actuator 250, the microcontroller 61 (FIG. 7) can operate the robot arms 212 and 222 to move the contact members 11 and 21 to arbitrary positions.

By operating the robot arms 212 and 222 in the same manner as the operations described with reference to FIGS. 7 to 16, the robot arms 212 and 222 appropriately support the motorcycle 40 that has entered and stopped in the parking device 1. can do. When the motorcycle 40 is not parked in the parking device 1, the robot arm 212 is located to the left and the contact member 11 is separated from the center of the parking device 1 in the left-right direction. Further, the robot arm 222 is located on the right side, and the contact member 21 is separated from the center of the parking device 1 in the left-right direction. When the motorcycle 40 enters the parking device 1, the microcontroller 61 controls the actuator 250 to operate the robot arms 212 and 222. Due to the operation of the robot arms 212 and 222, the contact member 11 moves to the right and the contact member 21 moves to the left. The robot arms 212 and 222 are stopped before the contact members 11 and 21 come into contact with the motorcycle 40. The motorcycle 40 stopped in the parking device 1 comes into contact with or is supported by either the contact member 11 or 21 by tilting to the left or right. The motorcycle 40 is supported by the robot arms 212 and 222 regardless of whether it is tilted to the left or right after stopping, and can maintain the stopped state in a standing posture without falling. As a result, the motorcycle 40 can be parked without using a mechanism for making the motorcycle 40 stand on its own, such as a side stand, a center stand, and an outrigger.

Further, since the robot arms 212 and 222 can move in three dimensions, the positions of the contact members 11 and 21 in the vertical direction and the positions in the front-rear direction can be adjusted. As a result, the contact members 11 and 21 can be moved to a more appropriate position with respect to the motorcycle 40 entering the parking device 1.

In the above example, the parking device 1 is provided with two robot arms 212 and 222, but may be provided with only one of them. For example, the robot arm 222 may be omitted in a form in which the motorcycle 40 is set to tilt only to the left when stopped. Further, for example, in a form in which the motorcycle 40 is set to tilt only to the right when stopped, the robot arm 212 may be omitted.

(Embodiment 2)
Next, a start assist device that assists the start of the saddle-mounted vehicle will be described. FIG. 21 is a perspective view showing the start assisting device 100 according to the second embodiment of the present invention. FIG. 22 is a side view showing the rear part of the motorcycle 40. FIG. 23 is a diagram showing spools 161L and 161R provided on the motorcycle 40.

The start assist device 100 of the present embodiment can park the motorcycle 40 by supporting the motorcycle 40 in an upright posture. Further, when the motorcycle 40 is started, the motorcycle 40 can be started while maintaining a state of being supported by the start assisting device 100 in an upright posture.

The start assist device 100 includes a base 110, a jack 120L, a jack 120R, a rail 130L, and a rail 130R. The jack 120L is provided on the left side of the base 110, and the jack 120R is provided on the right side of the base 110.

Each of the jacks 120L and 120R includes a lower base 121, an upper base 122, and a plurality of arms 123. The lower base 121, the upper base 122, and the plurality of arms 123 form an expansion / contraction mechanism. The jacks 120L and 120R may have a pantograph structure. The upper base 122 can be raised and lowered by inserting a handle (not shown) into the sleeve 124 and rotating the sleeve 124. The type of jack is arbitrary, and a mechanical jack, a liquid-operated jack, or the like can be used. Since the structure for raising and lowering the jack is known, detailed description thereof will be omitted here.

The jack 120L supports the rail 130L. The jack 120R supports the rail 130R. In this example, the rail 130L is attached to the upper base 122 of the jack 120L. The rail 130R is attached to the upper base 122 of the jack 120R. The rails 130L and 130R extend in the front-rear direction. The longitudinal direction of the rail 130L and the longitudinal direction of the rail 130R are parallel to each other. The height of the rail 130L can be adjusted by raising and lowering the upper base 122 of the jack 120L. The height of the rail 130R can be adjusted by raising and lowering the upper base 122 of the jack 120R.

A fork 143 is attached to the left front and the right front of the base 110 of the start assist device 100. The fork 143 supports the wheel 142. A handle 141 is attached to the rear of the base 110. The user can move the start assist device 100 by holding the handle 141 by hand and grounding the wheel 142 to the ground. Horizontal adjustment screws 144 are provided at the four corners of the base 110. The user can adjust the angle of the base 110 by operating each of the horizontal adjusting screws 144.

FIG. 23 shows a part of the rear part of the motorcycle 40. With reference to FIGS. 22 and 23, the motorcycle 40 includes a swing arm 43. An axle 44 that supports the rear wheel 42 is attached to the swing arm 43. The axle 44 has screw portions 175 at both ends thereof. Brackets 162L and 162R are attached to those threaded portions 175 using nuts 174. Further, the brackets 162L and 162R are also attached to the swing arm 43 by using bolts 172.

A spool 161L is attached to the lower portion of the bracket 162L by using a bolt 171 and a nut 173. A spool 161R is attached to the lower portion of the bracket 162R by using a bolt 171 and a nut 173. The spool is also called an anchor. In this example, each of the spools 161L and 161R comprises one or more ball bearings 164 and a flange 165. The bolt 171 penetrates the ball bearing 164 and the flange 165. The ball bearing 164 is rotatable around the bolt 171. The flange 165 may also be rotatable around the bolt 171. In this example, the bottom 163 of the brackets 162L, 162R can act as a flange.

When parking the motorcycle 40, the rear wheel 42 of the motorcycle 40 is made to enter from the front of the start assist device 100. The rear wheel 42 passes between the jack 120L and the jack 120R and advances to the rear of the starting assist device 100. At this time, the spool 161L rides on the rail 130L, and the spool 161R rides on the rail 130R. The spools 161L and 161R move along the longitudinal direction of the rails 130L and 130R. At this time, by rotating the ball bearings 164 of the spools 161L and 161R, the frictional resistance between the spools 161L and 161R and the rails 130L and 130R can be reduced. The bottom 163 and flange 165 of the brackets 162L and 162R prevent the spools 161L and 161R from coming off the rails 130L and 130R.

The rail 130L has a recess 131L in which the spool 161L fits in the rear portion thereof. The rail 130R has a recess 131R in which the spool 161R fits in the rear portion thereof. The motorcycle 40 is stopped at a position where the spools 161L and 161R fit into the recesses 131L and 131R. By fitting the spools 161L and 161R into the recesses 131L and 131R, it is possible to prevent the position of the motorcycle 40 from being displaced during parking. FIG. 24 is a diagram showing a motorcycle 40 parked in a state where the spools 161L and 161R are fitted in the recesses 131L and 131R. Since the rails 130L and 130R support the spools 161L and 161R, the starting assist device 100 can park the motorcycle 40 in an upright posture.

The start assist device 100 of the present embodiment includes jacks 120L and 120R, and the heights of the rails 130L and 130R can be adjusted independently. Since the heights of the rails 130L and 130R can be adjusted independently, the heights of the rails 130L and 130R can be made uniform even when the ground on which the start assist device 100 is installed is tilted. That is, the heights of the spools 161L and 161R on the rails 130L and 130R can be made uniform. As a result, the motorcycle 40 can be parked in an upright posture.

The rails 130L and 130R may be attached to the upper base 122 via a damper. By expanding and contracting the damper, the rails 130L and 130R can be made to follow the positions of the spools 161L and 161R even if the approach positions of the spools 161L and 161R are displaced.

When performing maintenance on the motorcycle 40, the rear wheels 42 can be lifted from the ground by operating the jacks 120L and 120R to raise the positions of the rails 130L and 130R. At this time, for example, by using the jig 150 as shown in FIG. 25, the jacks 120L and 120R can be raised and lowered by the same length at the same time. The jig 150 has, for example, a ratchet mechanism. A handle is attached to the jig 150, and each of the two rods 151 of the jig 150 is inserted into the sleeves 124 of the jacks 120L and 120R. By operating the handle to rotate the sleeve 124, the jacks 120L and 120R can be raised and lowered by the same length at the same time.

Further, by adjusting the heights of the rails 130L and 130R, the rear wheel 42 of the motorcycle 40 can be parked in a grounded state without floating. In this case, when the motorcycle 40 is started, the motorcycle 40 can be started while maintaining the state of being supported by the start assist device 100 in an upright posture.

When the rear wheel 42 of the motorcycle 40 that is in contact with the ground rotates when the motorcycle 40 starts, the spools 161L and 161R move along the longitudinal direction of the rails 130L and 130R. At this time, by rotating the ball bearings 164 of the spools 161L and 161R, the frictional resistance between the spools 161L and 161R and the rails 130L and 130R can be reduced. FIG. 26 shows a motorcycle 40 that starts from the start assist device 100 and moves forward.

Further, in the start assist device 100 of the present embodiment, as shown in FIG. 21, the front portions 132 of the rails 130L and 130R have a tapered shape. Since the rails 130L and 130R have a tapered shape, it is possible to prevent the spools 161L and 161R from interfering with the front portions 132 of the rails 130L and 130R when the motorcycle 40 is parked and started. In the present embodiment, a gently rounded shape (gentle R shape) is also included in the meaning of the tapered shape. Further, a shape that is a combination of a flat shape and a taper is also included in the meaning of the taper shape.

The exemplary embodiments of the present invention have been described above.

As described above, the parking device 1 for parking the saddle-type vehicle 40 according to the embodiment of the present invention includes the arms 12 and 22 for supporting the saddle-type vehicle 40 and the actuator 50L for moving the positions of the arms 12 and 22. , 50R and a control device 60 for controlling the operation of the actuators 50L and 50R. The control device 60 controls the actuators 50L and 50R in response to the entry of the saddle-type vehicle 40 into the parking device 1 to bring the arms 12 and 22 closer to the saddle-type vehicle 40.

In response to the entry of the saddle-type vehicle 40 into the parking device 1, the arms 12 and 22 supporting the saddle-type vehicle 40 are brought closer to the saddle-type vehicle 40. By being supported by the arms 12 and 22, the saddle-mounted vehicle 40 can maintain a stopped state in a standing posture without falling. As a result, the saddle-mounted vehicle 40 can be parked without using a mechanism for making the saddle-mounted vehicle 40 self-supporting, such as a side stand, a center stand, and an outrigger.

In one embodiment, the parking device 1 comprises a speed sensor 26 used to detect the traveling speed of the saddle-mounted vehicle 40 entering the parking device 1. The control device 60 changes the timing at which the arms 12 and 22 start to move according to the traveling speed of the detected saddle-mounted vehicle 40.

The timing at which the arms 12 and 22 start moving is changed according to the traveling speed of the saddle-mounted vehicle 40. As a result, the saddle-type vehicle 40 running in the parking device 1 and the arms 12 and 22 are suppressed from coming into contact with each other, and the arms 12 and 22 are saddle-type vehicles at the timing when the saddle-type vehicle 40 stops. It can be sufficiently close to 40.

In one embodiment, the control device 60 delays the timing at which the arms 12 and 22 start moving when the detected saddle-type vehicle 40 has a low speed, as compared with the case where the speed is high.

As a result, the saddle-type vehicle 40 running in the parking device 1 and the arms 12 and 22 are suppressed from coming into contact with each other, and the arms 12 and 22 are saddle-type vehicles at the timing when the saddle-type vehicle 40 stops. It can be sufficiently close to 40.

In one embodiment, the parking device 1 comprises a speed sensor 26 used to detect the traveling speed of the saddle-mounted vehicle 40 entering the parking device 1. The control device 60 changes the moving speeds of the arms 12 and 22 according to the traveling speed of the detected saddle-mounted vehicle 40.

The moving speeds of the arms 12 and 22 are changed according to the traveling speed of the saddle-mounted vehicle 40. As a result, the saddle-type vehicle 40 running in the parking device 1 and the arms 12 and 22 are suppressed from coming into contact with each other, and the arms 12 and 22 are saddle-type vehicles at the timing when the saddle-type vehicle 40 stops. It can be sufficiently close to 40.

In one embodiment, the control device 60 reduces the moving speed of the arms 12 and 22 when the detected saddle-type vehicle 40 has a low speed, as compared with the case where the speed is high.

As a result, the saddle-type vehicle 40 running in the parking device 1 and the arms 12 and 22 are suppressed from coming into contact with each other, and the arms 12 and 22 are saddle-type vehicles at the timing when the saddle-type vehicle 40 stops. It can be sufficiently close to 40.

In certain embodiments, the parking device 1 comprises a contact sensor 18 used to detect the presence or absence of contact of the arms 12 and 22 with the saddle-mounted vehicle 40. When the control device 60 detects the contact of the arms 12 and 22 with the saddle-mounted vehicle 40, the control device 60 stops the movement of the arms 12 and 22.

If the arms 12 and 22 continue to move even after the arms 12 and 22 come into contact with the saddle-mounted vehicle 40, the posture of the saddle-mounted vehicle 40 may be disturbed. When the arms 12 and 22 come into contact with the saddle-mounted vehicle 40, the movement of the arms 12 and 22 is stopped, so that the posture of the saddle-mounted vehicle 40 can be suppressed from being disturbed.

In certain embodiments, the parking device 1 comprises a distance sensor 17 used to detect the distance between the arms 12 and 22 and the saddle-mounted vehicle 40. The control device 60 reduces the moving speed of the arms 12 and 22 when the distance between the arms 12 and 22 and the saddle-mounted vehicle 40 becomes less than a predetermined value.

As a result, it is possible to prevent the saddle-mounted vehicle 40 traveling in the parking device 1 from coming into contact with the arms 12 and 22.

In certain embodiments, the actuator 50L moves the arm 12, and the actuator 50R moves the arm 22. The control device 60 controls the actuator 50L to bring the arm 12 closer to the saddle-type vehicle 40 from the left direction of the saddle-type vehicle 40, and controls the actuator 50R to move the arm 22 from the right direction of the saddle-type vehicle 40. Approach the saddle-mounted vehicle 40.

In response to the entry of the saddle-mounted vehicle 40 into the parking device 1, the arms 12 and 22 are brought closer to the saddle-mounted vehicle 40 from both the left and right directions of the saddle-mounted vehicle 40. The saddle-mounted vehicle 40 is supported by the arms 12 and 22 regardless of whether it is tilted to the left or right after stopping, and can maintain the stopped state in a standing posture without falling. As a result, the saddle-mounted vehicle 40 can be parked without using a mechanism for making the saddle-mounted vehicle 40 self-supporting, such as a side stand, a center stand, and an outrigger.

In certain embodiments, the parking device 1 comprises position sensors 15 and 25 used to detect the approach position of the saddle-mounted vehicle 40 into the parking device 1. The control device 60 sets the moving speed of the arm 12 and the arm 22 or the timing at which the movement is started according to the detected approach position of the saddle-mounted vehicle 40.

The moving speed of the arms 12 and 22 or the timing at which the movement is started is set according to the approach position of the saddle-mounted vehicle 40, respectively. As a result, the saddle-type vehicle 40 running in the parking device 1 and the arms 12 and 22 are suppressed from coming into contact with each other, and the arms 12 and 22 are saddle-type vehicles at the timing when the saddle-type vehicle 40 stops. It can be sufficiently close to 40.

In one embodiment, when the detected approach position of the saddle-type vehicle 40 is biased to the left side of the right side of the parking device 1, the control device 60 makes the moving speed of the arm 12 smaller than that of the arm 22, or , The timing to start the movement of the arm 12 is delayed more than that of the arm 22.

As a result, the saddle-type vehicle 40 running in the parking device 1 and the arm 12 are suppressed from coming into contact with each other, and at the timing when the saddle-type vehicle 40 stops, the arms 12 and 22 are changed to the saddle-type vehicle 40. Can be brought close enough.

In one embodiment, the control device 60 calculates the distance between the arm 12 and the arm 22 based on the amount of movement of the actuator 50L and the actuator 50R. When the distance between the arm 12 and the arm 22 becomes less than a predetermined value, the control device 60 stops the movement of the arm 12 and the arm 22.

When the distance between the arm 12 and the arm 22 becomes less than a predetermined value, the movement of the arms 12 and 22 is stopped. By preventing the gap between the arm 12 and the arm 22 from becoming too narrow, it is possible to prevent the saddle-mounted vehicle 40 traveling in the parking device 1 from coming into contact with the arms 12 and 22. ..

The start assist device 100 according to the embodiment of the present invention includes a rail 130L on which the spool 161L of the saddle-type vehicle 40 rides, a rail 130R on which the spool 161R of the saddle-type vehicle 40 rides, and a jack 120L that supports the rail 130L. And a jack 120R that supports the rail 130R. The height of the rail 130L can be adjusted by the jack 120L. The height of the rail 130R can be adjusted by the jack 120R.

The spools 161L and 161R are attached to, for example, the left and right sides of the rear wheel 42 of the saddle-mounted vehicle 40. The start assist device 100 includes jacks 120L and 120R, and the heights of the rails 130L and 130R can be adjusted independently. Since the heights of the rails 130L and 130R can be adjusted independently, the heights of the rails 130L and 130R can be made uniform even when the ground on which the start assist device 100 is installed is tilted. That is, the heights of the spools 161L and 161R on the rails 130L and 130R can be made uniform. As a result, the saddle-mounted vehicle 40 can be parked in an upright posture.

Further, by adjusting the heights of the rails 130L and 130R, the rear wheel 42 of the saddle-mounted vehicle 40 can be parked in a grounded state without floating. When the saddle-type vehicle 40 is started, it is possible to start the saddle-type vehicle 40 in an upright posture while maintaining the state of being supported by the start assist device 100.

When performing maintenance on the saddle-type vehicle 40, the rear wheels 42 of the saddle-type vehicle 40 can be lifted from the ground by raising the positions of the rails 130L and 130R.

In certain embodiments, the longitudinal direction of the rail 130L and the longitudinal direction of the rail 130R are parallel to each other. The saddle-mounted vehicle 40 can move along the longitudinal direction of the rails 130L and 130R.

When the rear wheel 42 of the saddle-mounted vehicle 40 that is in contact with the ground rotates when the saddle-mounted vehicle 40 starts, the spools 161L and 161R move along the longitudinal direction of the rails 130L and 130R. This makes it possible to start the saddle-mounted vehicle 40 while maintaining the state of being supported by the start assist device 100 in an upright posture.

In certain embodiments, the rail 130L has a recess 131L into which the spool 161L fits. The rail 130R has a recess 131R into which the spool 161R fits.

Since the rails 130L and 130R have recesses 131L and 131R into which the spools 161L and 161R fit, it is possible to prevent the saddle-mounted vehicle 40 from being displaced during parking.

In certain embodiments, at least a portion of the rail 130L has a tapered shape and at least a portion of the rail 130R has a tapered shape.

Since the rails 130L and 130R have a tapered shape, it is possible to prevent the spools 161L and 161R from interfering with the rails 130L and 130R when the saddle-mounted vehicle 40 is parked and started.

The embodiment of the present invention has been described above. The above description of the embodiments is an example of the present invention and does not limit the present invention. Further, an embodiment in which each component described in the above-described embodiment is appropriately combined is also possible. The present invention can be modified, replaced, added, omitted, etc. within the scope of the claims or the equivalent thereof.

The present invention is particularly useful in the technical field relating to parking of saddle-mounted vehicles.

1 Parking device 10 Left base 12, 22 Arm 11, 21 Contact member 13f, 13r, 23f, 23r Damper 15, 25 Position sensor (tape switch)
17 Distance sensor 18 Contact sensor 20 Right base 26 Speed sensor 26f, 26r Phototube switch 30 Front base 31 Wall 32 Damper 35 Rail 40 Motorcycle (saddle type vehicle)
41 Front wheel 42 Rear wheel 43 Swing arm 44 Axle 50L, 50R Actuator 51 Pinion gear 52 Rail 53 Rack gear 54 Electric motor 55 Reducer 56 Housing 57 Wheel 60 Control device 61 Microcontroller 62 Memory 100 Start assist device 110 Base 120L, 120R Jack 121 Lower stand 122 Upper stand 123 Arm 124 Sleeve 130L, 130R Rail 131L, 131R Depression 132 Front part of rail (tapered shape)
141 Handle 142 Wheel 143 Fork 144 Horizontal Adjustment Screw 150 Jig 151 Rod 161L, 161R Spool 162L, 162R Bracket 164 Ball Bearing 165 Flange 212, 222 Robot Arm 250 Actuator

Claims (8)

The first rail on which the first spool of the saddle-mounted vehicle rides,
The second rail on which the second spool of the saddle-mounted vehicle rides, and
The first jack that supports the first rail and
A second jack that supports the second rail,
Equipped with
The height of the first rail can be adjusted by the first jack, and the height of the second rail can be adjusted by the second jack.
The first rail has a recess into which the first spool fits.
The second rail is a start assisting device having a recess into which the second spool fits. The first rail on which the first spool of the saddle-mounted vehicle rides,
The second rail on which the second spool of the saddle-mounted vehicle rides, and
The first jack that supports the first rail and
A second jack that supports the second rail,
Equipped with
The height of the first rail can be adjusted by the first jack, and the height of the second rail can be adjusted by the second jack.
At least a part of the first rail has a tapered shape and has a tapered shape.
A start assisting device having a tapered shape at least a part of the second rail. The first rail on which the first spool of the saddle-mounted vehicle rides,
The second rail on which the second spool of the saddle-mounted vehicle rides, and
The first jack that supports the first rail and
A second jack that supports the second rail,
Equipped with
The height of the first rail can be adjusted by the first jack, and the height of the second rail can be adjusted by the second jack .
The first jack and the second jack can be raised and lowered at the same time by a jig.
Each of the first jack and the second jack has a sleeve and has a sleeve.
The jig has two rods that can be inserted into each of the sleeves.
With the two rods inserted into each of the sleeves, the handle attached to the jig is operated to rotate each of the sleeves so that the first jack and the second jack have the same length at the same time. A start assist device that can be raised and lowered as much as possible. The start assist device according to any one of claims 1 to 3, wherein the first jack and the second jack can independently adjust the heights of the first rail and the second rail. The longitudinal direction of the first rail and the longitudinal direction of the second rail are parallel to each other.
The start assist device according to any one of claims 1 to 4, wherein the saddle-mounted vehicle can move along the longitudinal direction of the first and second rails. The start assist device according to claim 1 or 2 , wherein the first jack and the second jack can be raised and lowered at the same time. The start assisting device according to claim 6, wherein the first jack and the second jack can be raised and lowered by the same length at the same time. The start assist device according to claim 1 or 2 , wherein the first jack and the second jack can be raised and lowered at the same time by a jig.

Images