JP2010125957A - Traveling vehicle - Google Patents

Traveling vehicle Download PDF

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JP2010125957A
JP2010125957A JP2008301903A JP2008301903A JP2010125957A JP 2010125957 A JP2010125957 A JP 2010125957A JP 2008301903 A JP2008301903 A JP 2008301903A JP 2008301903 A JP2008301903 A JP 2008301903A JP 2010125957 A JP2010125957 A JP 2010125957A
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link member
vehicle body
wheel
link
traveling vehicle
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Kenichi Shimakawa
憲一 島川
Masanori Okada
真規 岡田
Munehiro Takahashi
宗裕 高橋
Tsukasa Hosokawa
司 細川
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Equos Research Co Ltd
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Equos Research Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling vehicle for reducing a risk of causing interference of a vehicle body and a wheel part with a link member even in an inclined state, and a risk of colliding with a projection part of a road and a dropped object. <P>SOLUTION: The traveling vehicle 1 includes a vehicle body 2, the wheel part 5 for making the vehicle body 2 travel, and a link mechanism L for jointing the vehicle body 2 with the wheel part 5. The link mechanism L has a first link member 4a located on an upper side than a rotating shaft of the wheel part 5 and a second link member 4b located on a lower side than the rotating shaft of the wheel part 5 that are jointed to the vehicle body 2 at around a center in a width direction to rotate freely, and a third link member 9 jointed to both ends of the first link member 4a and the second link member 4b respectively and supporting the wheel part 5 to rotate freely. At least the second link member 4b is bent to be projected upward. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、車輪部に支持される車体及び搭載部を倒立姿勢で走行させる走行車両に関する。   The present invention relates to a traveling vehicle in which a vehicle body supported by wheel portions and a mounting portion travel in an inverted posture.

従来、図１３に示すように、車両を小型化した一人乗り用二輪車として構成し、車両の旋回時に車体をリンク機構により傾斜させ、旋回性能を向上し、安定して旋回することができる車両があった。（特許文献１参照）。
特願２００７−１６７６５３号 Conventionally, as shown in FIG. 13, a vehicle that is configured as a single-seater motorcycle that has a downsized vehicle and that can tilt the vehicle body by a link mechanism when the vehicle turns to improve turning performance and stably turn. there were. (See Patent Document 1).
Japanese Patent Application No. 2007-167653

しかしながら、特許文献１に記載された発明では、図１４及び図１５の模式図に示すように、走行車両１が傾斜した場合に、傾斜方向上方の車輪部連結部材４２が上方に移動し、車体２とリンク部材４との干渉を招くおそれがあった。   However, in the invention described in Patent Document 1, as shown in the schematic diagrams of FIGS. 14 and 15, when the traveling vehicle 1 is tilted, the wheel portion connecting member 42 in the upper tilt direction moves upward, and the vehicle body 2 and the link member 4 may be interfered.

また、走行車両１が傾斜した場合に、傾斜方向と反対側下方の車輪部連結部材４３が下方に移動し、最低地上高が低くなる。そのため、道路の凸部や落下物に衝突するおそれがあった。   Moreover, when the traveling vehicle 1 inclines, the wheel part connection member 43 on the lower side opposite to the inclining direction moves downward, and the minimum ground clearance decreases. Therefore, there is a possibility of colliding with a convex portion of the road or a falling object.

また、タイヤ径の縮小やホイールのインチダウンを行うと、さらに最低地上高が低くなるため、車両の小型化、軽量化により車両性能の向上を図ることが困難であった。   Further, when the tire diameter is reduced or the wheel is reduced in inches, the minimum ground clearance is further lowered. Therefore, it has been difficult to improve vehicle performance by reducing the size and weight of the vehicle.

本発明は、上記課題を解決するものであって、傾斜した場合でも車体及び車輪部とリンク部材との干渉を招くおそれや道路の凸部や落下物に衝突するおそれを低減する走行車両を提供することを目的とする。   The present invention solves the above-described problem, and provides a traveling vehicle that reduces the risk of causing interference between the vehicle body and the wheel portion and the link member even when the vehicle is tilted, and colliding with a convex portion of a road or a falling object. The purpose is to do.

そのために本発明は、車体と、前記車体を走行させる車輪部と、前記車体と前記車輪部とを連結するリンク機構とを備えた走行車両において、前記リンク機構は、前記車体と幅方向中央付近で回動自在に連結され前記車輪部の回転軸より上側の第１リンク部材及び下側の第２リンク部材と、前記第１リンク部材及び前記第２リンク部材の両端にそれぞれ連結され、前記車輪部を回転可能に支持する第３リンク部材とを有し、少なくとも前記第２リンク部材を上方に凸状の曲げ構造としたことを特徴とする。
To this end, the present invention provides a traveling vehicle including a vehicle body, a wheel portion that causes the vehicle body to travel, and a link mechanism that connects the vehicle body and the wheel portion. The first link member and the second link member on the lower side of the rotation axis of the wheel portion, and the both ends of the first link member and the second link member, respectively, and the wheel And a third link member that rotatably supports the portion, and at least the second link member has an upward convex bending structure.

また、前記第１リンク部材を上方に凸状の曲げ構造としたことを特徴とする。   In addition, the first link member has an upward convex bending structure.

請求項１記載の発明によれば、車体と、前記車体を走行させる車輪部と、前記車体と前記車輪部とを連結するリンク機構とを備えた走行車両において、前記リンク機構は、前記車体と幅方向中央付近で回動自在に連結され前記車輪部の回転軸より上側の第１リンク部材及び下側の第２リンク部材と、前記第１リンク部材及び前記第２リンク部材の両端にそれぞれ連結され、前記車輪部を回転可能に支持する第３リンク部材とを有し、少なくとも前記第２リンク部材を上方に凸状の曲げ構造としたので、傾斜した場合でも道路の凸部や落下物に衝突するおそれが低減される。   According to the first aspect of the present invention, in a traveling vehicle including a vehicle body, a wheel portion that causes the vehicle body to travel, and a link mechanism that connects the vehicle body and the wheel portion, the link mechanism includes the vehicle body and the vehicle body. A first link member and a lower second link member that are rotatably connected near the center in the width direction and are connected to both ends of the first link member and the second link member, respectively. And a third link member that rotatably supports the wheel portion, and at least the second link member has an upwardly convex bending structure, so that even if it is inclined, it may be on a road convex portion or a fallen object. The risk of collision is reduced.

また、請求項２記載の発明によれば、前記第１リンク部材を上方に凸状の曲げ構造としたので、車体及び車輪部とリンク部材との干渉を招くおそれが低減される。   According to the second aspect of the present invention, since the first link member has an upward convex bending structure, the possibility of causing interference between the vehicle body, the wheel portion, and the link member is reduced.

以下、本発明の一例としての実施形態を図面に基づいて説明する。図１及び図２は本実施形態の走行車両を示す図であり、図１は走行車両の正面図、図２は走行車両の側面図である。図３は、図１のＡ−Ａ断面の一部を拡大した図である。   Hereinafter, an embodiment as an example of the present invention will be described with reference to the drawings. 1 and 2 are diagrams showing a traveling vehicle according to the present embodiment. FIG. 1 is a front view of the traveling vehicle, and FIG. 2 is a side view of the traveling vehicle. FIG. 3 is an enlarged view of a part of the AA cross section of FIG.

走行車両１は、車体２に搭載部の一例としての座席３を搭載し、図示しないジョイスティック等を操作することで、左右の第３リンク部材としてのホイールモータ９等の駆動手段を制御し、車体２及び座席３の姿勢（傾斜角）を倒立状態に保ちながら、車輪部５を駆動して走行する。車体２は、上部フレーム２１に、乗員の座る座席３を搭載すると共に、下部フレーム２２でリンク部材４と連結されている。車輪部５は、タイヤ５ａとホイール５ｂとからなり、ホイールモータ９を支持する車輪支持部材としてのホイールモータブラケット９ａにより回転可能に支持されている。リンク部材４は、後述する連結部材によりホイールモータブラケット９ａと回転可能に連結されている。   The traveling vehicle 1 has a seat 3 as an example of a mounting portion mounted on a vehicle body 2 and operates a joystick (not shown) to control driving means such as a wheel motor 9 as a left and right third link member. 2 and driving the wheel 5 while keeping the posture (inclination angle) of the seat 3 in an inverted state. The vehicle body 2 has a seat 3 on which an occupant sits mounted on an upper frame 21 and is connected to the link member 4 by a lower frame 22. The wheel portion 5 includes a tire 5a and a wheel 5b, and is rotatably supported by a wheel motor bracket 9a as a wheel support member that supports the wheel motor 9. The link member 4 is rotatably connected to the wheel motor bracket 9a by a connecting member described later.

座席３は、乗員を搭載する座部３ａ、乗員の背もたれとなるシートバック３ｂ及び座席３を支持するシート支持部材３ｃを有する。また、座席３は、ガイドレール６ａ及びスライダ６ｂ等を有する案内手段としてのガイド部材６を介して車体２に対して前後方向に相対移動可能に支持される。左右の車輪部５は、共通な軸上でホイールモータ９等の駆動手段を介して車体２に対して回動可能に支持されており、前後駆動力を独立に制御することができる。なお、シート支持部材３ｃは、座部３ａ及びシートバッグ３ｂと別部材でもよい。   The seat 3 includes a seat portion 3 a on which an occupant is mounted, a seat back 3 b that serves as a back of the occupant, and a seat support member 3 c that supports the seat 3. The seat 3 is supported so as to be relatively movable in the front-rear direction with respect to the vehicle body 2 via a guide member 6 serving as guide means having a guide rail 6a and a slider 6b. The left and right wheel portions 5 are supported so as to be rotatable with respect to the vehicle body 2 via driving means such as a wheel motor 9 on a common shaft, and the front and rear driving force can be controlled independently. The seat support member 3c may be a separate member from the seat portion 3a and the seat bag 3b.

車体２は、上部フレーム２１及び下部フレーム２２を有する。   The vehicle body 2 includes an upper frame 21 and a lower frame 22.

上部フレーム２１は、第１上部フレーム２１ａ、第２上部フレーム２１ｂ及び第３上部フレーム２１ｃを有する。第１上部フレーム２１ａは、左右に延び前後に平行に配置され、左右の第１上部交点３１で第２上部フレーム２１ｂと連結される。第２上部フレーム２１ｂは、前後に延び左右に平行に配置され、左右の第１上部交点３１で第１上部フレーム２１ａと連結される。第３上部フレーム２１ｃは、左右の第２上部フレーム２１ｂを結ぶ線のやや下方で前後に延び第２上部フレーム２１ｂと平行に配置され、第２上部交点３２で第１上部フレーム２１ａと連結される。なお、第１上部フレーム２１ａは、前後に平行でなくてもよい。   The upper frame 21 includes a first upper frame 21a, a second upper frame 21b, and a third upper frame 21c. The first upper frame 21a extends in the left-right direction, is disposed in parallel in the front-rear direction, and is connected to the second upper frame 21b at the left and right first upper intersections 31. The second upper frame 21b extends in the front-rear direction and is arranged in parallel to the left and right, and is connected to the first upper frame 21a at the left and right first upper intersections 31. The third upper frame 21c extends forward and backward slightly below the line connecting the left and right second upper frames 21b, is arranged in parallel with the second upper frame 21b, and is connected to the first upper frame 21a at the second upper intersection point 32. . The first upper frame 21a may not be parallel to the front and rear.

下部フレーム２２は、第１下部フレーム２２ａ、第２下部フレーム２２ｂ及び第３下部フレーム２２ｃを有する。第１下部フレーム２２ａは、第１上部交点３１から下方に延び、下端で第２下部フレーム２２ｂ及び第３下部フレーム２２ｃとの下部交点３４で連結される。第２下部フレーム２２ｂは、第２上部交点３２から下方に延び下端の下部交点３４で連結される。第３下部フレーム２２ｃは、図３に示すように、前後の下部交点３４で連結される。   The lower frame 22 includes a first lower frame 22a, a second lower frame 22b, and a third lower frame 22c. The first lower frame 22a extends downward from the first upper intersection 31 and is connected at the lower intersection 34 with the second lower frame 22b and the third lower frame 22c at the lower end. The second lower frame 22b extends downward from the second upper intersection 32 and is connected at the lower intersection 34 at the lower end. As shown in FIG. 3, the third lower frame 22 c is connected at the front and rear lower intersections 34.

リンク部材４は、上下前後に２本ずつ平行に配設され、上方両端にある第１車輪部連結部材４１及び第２車輪部連結部材４２、並びに、下方両端にある第３車輪部連結部材４３及び第４車輪部連結部材４４で第３リンク部材としてのホイールモータ９のホイールモータブラケット９ａに回動可能に連結され、リンク部材４とホイールモータ９のホイールモータブラケット９ａとでリンク機構Ｌを構成する。上方に配置される第１リンク部材４ａは、略中央部を第２下部フレーム２２ｂと第１連結点３３で回動可能に連結され、両端部を第１車輪部連結部材４１及び第２車輪部連結部材４２でホイールモータ９のホイールモータブラケット９ａに回動可能に連結される。下方に配置される第２リンク部材４ｂは、略中央部を下部交点３４で第１下部フレーム２２ａ、第２下部フレーム２２ｂ及び第３下部フレーム２２ｃと回動可能に連結され、両端部を第３車輪部連結部材４３及び第４車輪部連結部材４４でホイールモータ９のホイールモータブラケット９ａに回動可能に連結される。   Two link members 4 are arranged in parallel at the top and bottom and two in parallel, the first wheel portion connecting member 41 and the second wheel portion connecting member 42 at both upper ends, and the third wheel portion connecting member 43 at both lower ends. And the fourth wheel portion connecting member 44 is rotatably connected to the wheel motor bracket 9a of the wheel motor 9 as the third link member, and the link member 4 and the wheel motor bracket 9a of the wheel motor 9 constitute the link mechanism L. To do. The first link member 4a disposed on the upper side is connected to the second lower frame 22b and the first connection point 33 so as to be rotatable at a substantially central portion, and both ends are connected to the first wheel portion connecting member 41 and the second wheel portion. The connecting member 42 is rotatably connected to the wheel motor bracket 9 a of the wheel motor 9. The second link member 4b disposed below is pivotally connected to the first lower frame 22a, the second lower frame 22b, and the third lower frame 22c at a lower intersection 34 at a substantially central portion, and both ends are third. The wheel portion connecting member 43 and the fourth wheel portion connecting member 44 are rotatably connected to the wheel motor bracket 9a of the wheel motor 9.

上部フレーム２１の左右の第２上部フレーム２１ｂには、それぞれ平行に配置されたガイド部材６が取り付けられる。ガイド部材６は、座席３に固定されたガイドレール６ａ及び車体２に固定されガイドレール６ａに沿って移動するスライダ６ｂを有する。座席３は、車体２に対して、ガイド部材６に沿って相対移動可能に支持されている。これにより、高い剛性を確保すると共に、小さな駆動力で滑らかに移動することができる。なお、ガイドレール６ａは、座席３又は車体２のどちらか一方に設けられ、スライダ６ｂは、座席３又は車体２の他方に設けられればよい。   Guide members 6 arranged in parallel to each other are attached to the left and right second upper frames 21b of the upper frame 21, respectively. The guide member 6 includes a guide rail 6a fixed to the seat 3 and a slider 6b fixed to the vehicle body 2 and moving along the guide rail 6a. The seat 3 is supported so as to be relatively movable along the guide member 6 with respect to the vehicle body 2. Thereby, while ensuring high rigidity, it can move smoothly with a small driving force. The guide rail 6a may be provided on either the seat 3 or the vehicle body 2, and the slider 6b may be provided on the other side of the seat 3 or the vehicle body 2.

また、上部フレーム２１の第３上部フレーム２１ｃには、移動手段としてのスライドアクチュエータ７が取付けられている。スライドアクチュエータ７は、第１部材としての案内部７ａ、第２部材としての移動部７ｂ及び駆動部７ｃ等を有する。案内部７ａは第３上部フレーム２１ｃに取り付けられている。移動部７ｂは、弾性部材の一例としてのフレキシブルプレート１０を介してガイド部材６のスライダ６ｂに取り付け固定され、駆動部７ｃにより駆動され、案内部７ａに沿って相対移動する。   A slide actuator 7 as a moving means is attached to the third upper frame 21c of the upper frame 21. The slide actuator 7 includes a guide portion 7a as a first member, a moving portion 7b as a second member, a drive portion 7c, and the like. The guide portion 7a is attached to the third upper frame 21c. The moving portion 7b is attached and fixed to the slider 6b of the guide member 6 via the flexible plate 10 as an example of an elastic member, is driven by the driving portion 7c, and relatively moves along the guide portion 7a.

なお、本実施形態では、座席３及びフレキシブルプレート１０を搭載部として構成しているが、第２部材としての移動部７ｂは、直接座席３に取り付け固定されてもよい。また、移動部７ｂは、複数設けてもよい。   In addition, in this embodiment, although the seat 3 and the flexible plate 10 are comprised as a mounting part, the moving part 7b as a 2nd member may be directly attached to the seat 3 and fixed. A plurality of moving parts 7b may be provided.

さらに、案内部７ａを第１部材として座席３側に固定し、移動部７ｂを第２部材として車体２の上部フレーム２１側に固定する構成としてもよい。その際、移動部７ｂは、案内部７ａより車体２の前後方向における長さが長く構成されるのが好ましい。   Furthermore, it is good also as a structure which fixes the guide part 7a to the seat 3 side as a 1st member, and fixes the moving part 7b to the upper frame 21 side of the vehicle body 2 as a 2nd member. In that case, it is preferable that the moving part 7b is configured to be longer in the longitudinal direction of the vehicle body 2 than the guide part 7a.

フレキシブルプレート１０は、スライドアクチュエータ７の移動部７ｂと搭載部３に連結されたガイド部材６のスライダ６ｂとを連結する部材であり、座席３からの荷重、走行時の変形等による荷重又は寸法公差等による組み付け時に発生する荷重を支えることで、スライドアクチュエータ７への作用を低減する板状の弾性体である。これにより、この弾性部材を備えない車両に比べてアクチュエータの出力を抑えることができるため、スライドアクチュエータ７の小型化、省エネ化を達成することができる。   The flexible plate 10 is a member that connects the moving portion 7b of the slide actuator 7 and the slider 6b of the guide member 6 connected to the mounting portion 3, and is a load from the seat 3, a load due to deformation during traveling, or a dimensional tolerance. It is a plate-like elastic body that reduces the action on the slide actuator 7 by supporting a load generated during assembly by the like. Thereby, since the output of an actuator can be suppressed compared with the vehicle which is not provided with this elastic member, size reduction and energy saving of the slide actuator 7 can be achieved.

なお、本実施形態では、フレキシブルプレート１０を、移動部７ｂと車体２側との間に、弾性的に連結するように設けたが、案内部７ａと座席３側との間に、弾性的に連結するように設けてもよい。また、弾性部材として、フレキシブルプレート１０を用いたが、バネやゴム等の他の弾性部材等を採用し、連結してもよい。さらに、フレキシブルプレート１０等の弾性部材は必ずしも設ける必要はない。   In the present embodiment, the flexible plate 10 is provided so as to be elastically connected between the moving portion 7b and the vehicle body 2 side. However, the flexible plate 10 is elastically provided between the guide portion 7a and the seat 3 side. You may provide so that it may connect. Moreover, although the flexible plate 10 was used as an elastic member, you may employ | adopt and connect other elastic members, such as a spring and rubber | gum. Furthermore, an elastic member such as the flexible plate 10 is not necessarily provided.

図３に示すように、車体２には、第３上部フレーム２１ｃに支持されたフランジ８ａを介して、前後の第１連結点３３を結ぶ位置に中空モータ８が配設される。中空モータ８は、回動中心に中空モータ８を貫通するシャフト１１を有し、前後両方向に出力することができる。シャフト１１は、両端でシャフトホルダ１２及びボルト１３を介して、リンク部材４の第１リンク部材４ａに連結される。   As shown in FIG. 3, the vehicle body 2 is provided with a hollow motor 8 at a position connecting the front and rear first connection points 33 via a flange 8a supported by the third upper frame 21c. The hollow motor 8 has a shaft 11 that penetrates the hollow motor 8 at the center of rotation, and can output in both the front and rear directions. The shaft 11 is coupled to the first link member 4a of the link member 4 via the shaft holder 12 and the bolt 13 at both ends.

図４は本発明に係るリンク機構Ｌ付近の拡大図、図５は図４を側方から見た図、図６は車輪部５が傾斜した時のリンク機構Ｌの状態を示す図である。   4 is an enlarged view of the vicinity of the link mechanism L according to the present invention, FIG. 5 is a view of FIG. 4 viewed from the side, and FIG. 6 is a view showing a state of the link mechanism L when the wheel portion 5 is tilted.

本発明に係るリンク機構Ｌは、リンク部材４の第１リンク部材４ａと第２リンク部材４ｂを曲げ構造としたものである。具体的には、図４に示すように、第１連結点３３に連結される第１リンク部材４ａの略中央部に、上方に凸形状となるように屈曲する第１曲げ部４ａ１を設ける。また、下部交点３４に連結される第２リンク部材４ｂの略中央部に、上方に凸形状となるように屈曲する第２曲げ部４ｂ１を設ける。なお、第１リンク部材４ａは、左右別体の部材をそれぞれ第１連結点３３に連結し、一体に作動する構造としてもよい。同様に、第２リンク部材４ｂは、左右別体の部材をそれぞれ下部交点３４に連結し、一体に作動する構造としてもよい。   In the link mechanism L according to the present invention, the first link member 4a and the second link member 4b of the link member 4 are bent structures. Specifically, as shown in FIG. 4, a first bent portion 4 a 1 that is bent so as to have a convex shape upward is provided at a substantially central portion of the first link member 4 a connected to the first connecting point 33. Further, a second bent portion 4b1 that is bent so as to have a convex shape upward is provided at a substantially central portion of the second link member 4b connected to the lower intersection 34. In addition, the 1st link member 4a is good also as a structure which connects the member on the left and right separately to the 1st connection point 33, respectively, and operate | moves integrally. Similarly, the second link member 4b may have a structure in which left and right separate members are respectively connected to the lower intersection 34 and operate integrally.

このように構成することにより、リンク動作部材としての中空モータ８を作動させ、図５に示したシャフト１１が回転すると、第１リンク部材４ａに伝達され、リンク機構Ｌが作動し、図６に示すように、車輪部５が傾斜する。また、図示しない車体２も傾斜する。   With this configuration, when the hollow motor 8 as the link operation member is operated and the shaft 11 shown in FIG. 5 is rotated, the transmission is transmitted to the first link member 4a, and the link mechanism L is operated. As shown, the wheel portion 5 is inclined. Further, the vehicle body 2 (not shown) is also inclined.

また、走行車両１が傾斜した場合に、傾斜方向と反対側下方の車輪部連結部材４１ｃが下がるが、第２リンク部材４ｂが屈曲しているため、下部交点３４下方の第１スペースαを十分に有する。そのため、道路の凸部や落下物に衝突するおそれを低減することができる。   Further, when the traveling vehicle 1 is tilted, the wheel portion connecting member 41c on the lower side opposite to the tilting direction is lowered, but since the second link member 4b is bent, the first space α below the lower intersection 34 is sufficient. Have. For this reason, it is possible to reduce the possibility of colliding with a convex portion of the road or a falling object.

走行車両１の車体２が傾斜した状態では、傾斜方向上方の車輪部連結部材４１ａが上方に上がるが、第１リンク部材４ａが屈曲しているため、車輪部連結部材４１ａ上方の第２スペースβが広くなり、車体２とリンク部材４との干渉を低減することができる。   In the state in which the vehicle body 2 of the traveling vehicle 1 is tilted, the wheel portion connecting member 41a above the tilt direction rises upward, but since the first link member 4a is bent, the second space β above the wheel portion connecting member 41a. Becomes wider, and interference between the vehicle body 2 and the link member 4 can be reduced.

また、車輪部５の傾斜に伴って、車体２及び座席３が旋回内側に傾くことになる。したがって、座席３に搭乗する運転者の重さを使用して、旋回時には遠心力に対抗する方向に重心を移動する事が可能となるため、旋回性能が大幅に向上する。これは、トレッド幅が小さい小型車両等に適用すると、より効果的である。   Further, as the wheel unit 5 is tilted, the vehicle body 2 and the seat 3 are tilted inward. Therefore, since the center of gravity can be moved in the direction opposite to the centrifugal force at the time of turning using the weight of the driver riding on the seat 3, the turning performance is greatly improved. This is more effective when applied to a small vehicle having a small tread width.

次に、参考例について説明する。   Next, a reference example will be described.

図７は第１参考例のリンク機構Ｌ付近の拡大図、図８は図７を側方から見た図、図９は車輪部５が傾斜した時の参考例のリンク機構Ｌの状態を示す図である。   7 is an enlarged view of the vicinity of the link mechanism L of the first reference example, FIG. 8 is a view of FIG. 7 viewed from the side, and FIG. 9 shows the state of the link mechanism L of the reference example when the wheel portion 5 is tilted. FIG.

第１参考例のリンク機構Ｌは、従来技術と比較して、第１リンク部材４ａを下方に配置し、第２リンク部材４ｂを上方に配置する構造としたものである。   The link mechanism L of the first reference example has a structure in which the first link member 4a is disposed below and the second link member 4b is disposed above compared to the prior art.

具体的には、図７に示すように、上方に配置される第１リンク部材４ａは、略中央部を第２下部フレーム２２ｂと第１連結点３３で回動可能に連結され、両端部を第１車輪部連結部材４１及び第２車輪部連結部材４２でホイールモータ９のホイールモータブラケット９ａの最上部より下方に回動可能に連結される。下方に配置される第２リンク部材４ｂは、略中央部を下部交点３４で第１下部フレーム２２ａ、第２下部フレーム２２ｂ及び第３下部フレーム２２ｃと回動可能に連結され、両端部を第３車輪部連結部材４３及び第４車輪部連結部材４４でホイールモータ９のホイールモータブラケット９ａの最下部より上方に回動可能に連結される。   Specifically, as shown in FIG. 7, the first link member 4 a disposed at the upper side is connected to the second lower frame 22 b and the first connection point 33 so that the first link member 4 a can be rotated at both ends. The first wheel portion connecting member 41 and the second wheel portion connecting member 42 are connected so as to be rotatable downward from the uppermost portion of the wheel motor bracket 9a of the wheel motor 9. The second link member 4b disposed below is pivotally connected to the first lower frame 22a, the second lower frame 22b, and the third lower frame 22c at a lower intersection 34 at a substantially central portion, and both ends are third. The wheel portion connecting member 43 and the fourth wheel portion connecting member 44 are connected so as to be rotatable upward from the lowermost portion of the wheel motor bracket 9a of the wheel motor 9.

このように構成することにより、中空モータ８を作動させ、図８に示したシャフト１１が回転すると、第１リンク部材４ａに伝達され、リンク機構Ｌが作動し、図９に示すように、車輪部５が傾斜する。また、図示しない車体２も傾斜する。   With this configuration, when the hollow motor 8 is operated and the shaft 11 shown in FIG. 8 is rotated, the transmission is transmitted to the first link member 4a, and the link mechanism L is operated. As shown in FIG. The part 5 is inclined. Further, the vehicle body 2 (not shown) is also inclined.

また、走行車両１が傾斜した場合に、傾斜方向と反対側下方の車輪部連結部材４１ｃが下がるが、第２リンク部材４ｂを上方に配置しているため、下部交点３４下方の第１スペースαを十分に有する。そのため、道路の凸部や落下物に衝突するおそれを低減することができる。   Further, when the traveling vehicle 1 is tilted, the wheel portion connecting member 41c on the lower side opposite to the tilting direction is lowered, but since the second link member 4b is disposed on the upper side, the first space α below the lower intersection 34 is disposed. Have enough. For this reason, it is possible to reduce the possibility of colliding with a convex portion of the road or a falling object.

図１０は第２参考例のリンク機構Ｌ付近の拡大図、図１１は図１０を側方から見た図、図１２は車輪部５が傾斜した時の参考例のリンク機構Ｌの状態を示す図である。   10 is an enlarged view of the vicinity of the link mechanism L of the second reference example, FIG. 11 is a view of FIG. 10 viewed from the side, and FIG. 12 shows the state of the link mechanism L of the reference example when the wheel portion 5 is tilted. FIG.

第２参考例のリンク機構Ｌは、第１参考例に対して、第１リンク部材４ａとホイールモータブラケット９ａとの連結部分及び第２リンク部材４ｂとホイールモータブラケット９ａとの連結部分を車体２の中心側に配置する構造をしたものである。   The link mechanism L of the second reference example is different from the first reference example in that the connecting portion between the first link member 4a and the wheel motor bracket 9a and the connecting portion between the second link member 4b and the wheel motor bracket 9a are connected to the vehicle body 2. The structure is arranged on the center side.

具体的には、図１０に示すように、上方に配置される第１リンク部材４ａは、略中央部を第２下部フレーム２２ｂと第１連結点３３で回動可能に連結され、両端部を第１車輪部連結部材４１及び第２車輪部連結部材４２でホイールモータ９のホイールモータブラケット９ａの最上部より下方、且つ、ホイールモータブラケット９ａよりも車体２の中心側に回動可能に連結される。下方に配置される第２リンク部材４ｂは、略中央部を下部交点３４で第１下部フレーム２２ａ、第２下部フレーム２２ｂ及び第３下部フレーム２２ｃと回動可能に連結され、両端部を第３車輪部連結部材４３及び第４車輪部連結部材４４でホイールモータ９のホイールモータブラケット９ａの最下部より上方、且つ、ホイールモータブラケット９ａよりも車体２の中心側に回動可能に連結される。   Specifically, as shown in FIG. 10, the first link member 4a disposed at the upper side is connected to the second lower frame 22b and the first connection point 33 so that the first link member 4a is pivotable at both ends. The first wheel portion connecting member 41 and the second wheel portion connecting member 42 are rotatably connected to a position below the uppermost portion of the wheel motor bracket 9a of the wheel motor 9 and to the center side of the vehicle body 2 relative to the wheel motor bracket 9a. The The second link member 4b disposed below is pivotally connected to the first lower frame 22a, the second lower frame 22b, and the third lower frame 22c at a lower intersection 34 at a substantially central portion, and both ends are third. The wheel portion connecting member 43 and the fourth wheel portion connecting member 44 are rotatably connected above the lowermost portion of the wheel motor bracket 9a of the wheel motor 9 and more to the center side of the vehicle body 2 than the wheel motor bracket 9a.

このように構成することにより、中空モータ８を作動させ、図１１に示したシャフト１１が回転すると、第１リンク部材４ａに伝達され、リンク機構Ｌが作動し、図１２に示すように、車輪部５が傾斜する。また、図示しない車体２も傾斜する。   With this configuration, when the hollow motor 8 is operated and the shaft 11 shown in FIG. 11 is rotated, the shaft 11 is transmitted to the first link member 4a, and the link mechanism L is operated. As shown in FIG. The part 5 is inclined. Further, the vehicle body 2 (not shown) is also inclined.

また、走行車両１が傾斜した場合に、傾斜方向と反対側下方の車輪部連結部材４１ｃが下がるが、第２リンク部材４ｂを上方に配置しているため、下部交点３４下方の第１スペースαを十分に有する。そのため、道路の凸部や落下物に衝突するおそれを低減することができる。   Further, when the traveling vehicle 1 is tilted, the wheel portion connecting member 41c on the lower side opposite to the tilting direction is lowered, but since the second link member 4b is disposed on the upper side, the first space α below the lower intersection 34 is disposed. Have enough. For this reason, it is possible to reduce the possibility of colliding with a convex portion of the road or a falling object.

このように本発明に係るリンク機構によれば、車体２と、車体２を走行させる車輪部５と、車体２と車輪部５とを連結するリンク機構Ｌとを備えた走行車両１において、リンク機構Ｌは、車体２と幅方向中央付近で回動自在に連結され車輪部５の回転軸より上側の第１リンク部材４ａ及び下側の第２リンク部材４ｂと、第１リンク部材４ａ及び第２リンク部材４ｂの両端にそれぞれ連結され、車輪部５を回転可能に支持する第３リンク部材９とを有し、少なくとも第２リンク部材４ｂを上方に凸状の曲げ構造としたので、傾斜した場合でも道路の凸部や落下物に衝突するおそれが低減される。   As described above, according to the link mechanism according to the present invention, in the traveling vehicle 1 including the vehicle body 2, the wheel portion 5 that causes the vehicle body 2 to travel, and the link mechanism L that connects the vehicle body 2 and the wheel portion 5, the link The mechanism L is rotatably connected to the vehicle body 2 in the vicinity of the center in the width direction. The first link member 4a and the second link member 4b on the upper side of the rotation axis of the wheel unit 5, the first link member 4a and the first link member 4a. The second link member 4b has a third link member 9 that is connected to both ends of the link member 4b and rotatably supports the wheel portion 5, and at least the second link member 4b has an upward convex bending structure, so that it is inclined. Even in this case, the risk of colliding with a convex portion of the road or falling objects is reduced.

また、第１リンク部材４ａを上方に凸状の曲げ構造としたので、車体２及び車輪部５とリンク部材４との干渉を招くおそれが低減される。   Moreover, since the 1st link member 4a was made into the convex structure bent upwards, the possibility of causing the interference with the vehicle body 2, the wheel part 5, and the link member 4 is reduced.

本発明に係る実施形態の走行車両を示す正面図である。It is a front view which shows the traveling vehicle of embodiment which concerns on this invention. 本発明に係る実施形態の走行車両を示す側面図である。It is a side view which shows the traveling vehicle of embodiment which concerns on this invention. 図１のＡ−Ａ断面の一部を拡大した図である。It is the figure which expanded a part of AA cross section of FIG. 本発明に係る実施形態の走行車両のリンク機構を示す正面図である。It is a front view which shows the link mechanism of the traveling vehicle of embodiment which concerns on this invention. 本発明に係る実施形態の走行車両のリンク機構を示す側面図である。It is a side view which shows the link mechanism of the traveling vehicle of embodiment which concerns on this invention. 本発明に係る実施形態の走行車両のリンク機構の作動状態を示す正面図である。It is a front view which shows the operating state of the link mechanism of the traveling vehicle of embodiment which concerns on this invention. 第１参考例の走行車両のリンク機構を示す正面図である。It is a front view which shows the link mechanism of the traveling vehicle of a 1st reference example. 第１参考例の走行車両のリンク機構を示す側面図である。It is a side view which shows the link mechanism of the traveling vehicle of a 1st reference example. 第１参考例の走行車両のリンク機構の作動状態を示す正面図である。It is a front view which shows the operating state of the link mechanism of the traveling vehicle of a 1st reference example. 第２参考例の走行車両のリンク機構を示す正面図である。It is a front view which shows the link mechanism of the traveling vehicle of a 2nd reference example. 第２参考例の走行車両のリンク機構を示す側面図である。It is a side view which shows the link mechanism of the traveling vehicle of a 2nd reference example. 第２参考例の走行車両のリンク機構の作動状態を示す正面図である。It is a front view which shows the operating state of the link mechanism of the traveling vehicle of a 2nd reference example. 従来の技術を示す図である。It is a figure which shows the prior art. 従来の技術を示す図である。It is a figure which shows the prior art. 従来の技術を示す図である。It is a figure which shows the prior art.

符号の説明Explanation of symbols

１…走行車両、２…車体、３…座席（搭載部）、４…リンク部材、５…車輪部、６…ガイド部材（案内手段）、７…スライドアクチュエータ（移動手段）、８…中空モータ、９…ホイールモータ、１０…フレキシブルプレート（弾性手段）、１１…シャフト、Ｌ…リンク機構 DESCRIPTION OF SYMBOLS 1 ... Traveling vehicle, 2 ... Vehicle body, 3 ... Seat (mounting part), 4 ... Link member, 5 ... Wheel part, 6 ... Guide member (guide means), 7 ... Slide actuator (moving means), 8 ... Hollow motor, 9 ... Wheel motor, 10 ... Flexible plate (elastic means), 11 ... Shaft, L ... Link mechanism

Claims (2)

車体と、前記車体を走行させる車輪部と、前記車体と前記車輪部とを連結するリンク機構とを備えた走行車両において、
前記リンク機構は、前記車体と幅方向中央付近で回動自在に連結され前記車輪部の回転軸より上側の第１リンク部材及び下側の第２リンク部材と、前記第１リンク部材及び前記第２リンク部材の両端にそれぞれ連結され、前記車輪部を回転可能に支持する第３リンク部材とを有し、
少なくとも前記第２リンク部材を上方に凸状の曲げ構造とした
ことを特徴とする走行車両。 In a traveling vehicle comprising a vehicle body, a wheel portion that causes the vehicle body to travel, and a link mechanism that connects the vehicle body and the wheel portion,
The link mechanism is connected to the vehicle body so as to be rotatable in the vicinity of the center in the width direction, the first link member above the rotation axis of the wheel portion, the second link member below, the first link member and the first link member. A third link member connected to both ends of the two link members and rotatably supporting the wheel portion;
A traveling vehicle characterized in that at least the second link member has an upward convex bending structure. 前記第１リンク部材を上方に凸状の曲げ構造とした
ことを特徴とする請求項１に記載の走行車両。 The traveling vehicle according to claim 1, wherein the first link member has an upward convex bending structure.
JP2008301903A 2008-11-27 2008-11-27 Traveling vehicle Pending JP2010125957A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008301903A JP2010125957A (en) 2008-11-27 2008-11-27 Traveling vehicle

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Application Number Priority Date Filing Date Title
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Publications (1)

Publication Number Publication Date
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Family

ID=42326641

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008301903A Pending JP2010125957A (en) 2008-11-27 2008-11-27 Traveling vehicle

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0640204A (en) * 1992-03-10 1994-02-15 Pierre Patin Vehicle stabilizing device
JPH06171569A (en) * 1991-04-27 1994-06-21 Takeji Yamamura Overturn preventing device for motorcycle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06171569A (en) * 1991-04-27 1994-06-21 Takeji Yamamura Overturn preventing device for motorcycle
JPH0640204A (en) * 1992-03-10 1994-02-15 Pierre Patin Vehicle stabilizing device

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