JP6107635B2 - Coaxial motorcycle - Google Patents

Coaxial motorcycle Download PDF

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JP6107635B2
JP6107635B2 JP2013258950A JP2013258950A JP6107635B2 JP 6107635 B2 JP6107635 B2 JP 6107635B2 JP 2013258950 A JP2013258950 A JP 2013258950A JP 2013258950 A JP2013258950 A JP 2013258950A JP 6107635 B2 JP6107635 B2 JP 6107635B2
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vehicle
pair
coaxial
main body
vehicle body
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JP2015113094A (en
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和呂 三佐尾
和呂 三佐尾
貢 菊地
貢 菊地
耕太 大石
耕太 大石
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Toyota Motor Corp
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Description

本発明は同軸二輪車に関する。   The present invention relates to a coaxial two-wheeled vehicle.

進行方向に対して直交する方向の両側に車輪を有する同軸二輪車が知られている。このような同軸二輪車においては、コンパクトであり、かつ搭乗者が容易に操作できることが重要である。 A coaxial two-wheeled vehicle having wheels on both sides in a direction orthogonal to the traveling direction is known. In such a coaxial two-wheeled vehicle, it is important that it is compact and can be easily operated by a passenger.

特許文献１には、運転者が搭乗するステッププレートが、進行方向をロール軸としたときに、ロール軸を中心として回転するように設けられた同軸二輪車が記載されている。特許文献１に記載の同軸二輪車では、車両本体部を平行リンク機構が構成している。平行リンク機構は、互いに平行をなして上下に配置された車体上部材及び車体下部材と、互いに平行をなして左右に配置されるとともに、車体上部材と車体下部材と回動可能に連結された側面部材を有する。特許文献１に記載の同軸二輪車では、このような構造とすることにより、同軸二輪車の旋回動作の安全性を向上させている。 Patent Document 1 describes a coaxial two-wheel vehicle in which a step plate on which a driver is boarded is provided to rotate around a roll axis when the traveling direction is a roll axis. In the coaxial two-wheeled vehicle described in Patent Document 1, a parallel link mechanism constitutes the vehicle main body. Parallel link mechanism includes a vehicle body upper member and the vehicle body lower member disposed vertically in parallel with each other, while being disposed on the left and right in parallel with each other, and rotatably drive the upper body member and the vehicle body lower member Having connected side members; In the coaxial two-wheeled vehicle described in Patent Document 1, such a structure improves the safety of the turning operation of the coaxial two-wheeled vehicle.

特開２００９−２３６５２号公報JP 2009-23651 A

しかしながら、特許文献１に記載の同軸二輪車では、構造が複雑になり、また車両本体部のリンク構造の可動領域により、制御基板やセンサ等を搭載する領域が限られてしまうという問題があった。   However, the coaxial two-wheeled vehicle described in Patent Document 1 has a problem in that the structure is complicated, and a region where a control board, a sensor, and the like are mounted is limited due to the movable region of the link structure of the vehicle main body.

本発明はこのような問題を解決するためになされたものであり、車両本体部の搭載領域の確保と旋回動作の安定とを両立させた同軸二輪車を提供することを目的とする。   The present invention has been made to solve such a problem, and an object of the present invention is to provide a coaxial two-wheeled vehicle that achieves both securing of a mounting area of a vehicle main body and stable turning operation.

本発明にかかる同軸二輪車は、運転者が搭乗するために進行方向に直交する方向に対して両側に設けられた２つのステッププレートと、前記ステッププレートを支持する車両本体部と、進行方向に直交する方向に同軸状に配置され、前記車両本体部に対して回転可能に支持された一対の車輪と、前記一対の車輪を独立して駆動させる駆動手段と、を具備する。前記車両本体部は、地面に対して平行に設けられた車体上部材及び車体下部材と、前記ステッププレートに連結されるとともに、前記車体上部材及び車体下部材と回動可能に連結された一対の側面部材と、を備えるリンク機構を有し、前記リンク機構における前記車体下部材と前記一対の側面部材との一対の下側搖動支点は、車両進行方向に見て各車輪の幅の中心となる位置にそれぞれ設けられ、前記リンク機構における前記車体上部材と前記一対の側面部材との一対の上側搖動支点は、前記一対の下側揺動支点の車幅方向の内側に配置され、かつ、前記一対の車輪の内側の空間に配置されている。これにより、より車両本体部の搭載領域を拡大でき、さらに同軸二輪車の旋回動作を安定させることができる。 A coaxial two-wheeled vehicle according to the present invention includes two step plates provided on both sides with respect to a direction orthogonal to the traveling direction for a driver to board, a vehicle main body that supports the step plate, and a direction orthogonal to the traveling direction. A pair of wheels that are coaxially arranged in a direction to be rotated and supported so as to be rotatable with respect to the vehicle main body, and driving means for independently driving the pair of wheels. The vehicle body portion, the vehicle body upper member and the vehicle body lower member provided in parallel to the ground, the while being connected to the step plate, is pivotally connected with the vehicle body upper member and the car body lower member A pair of side members, and a pair of lower sliding fulcrums of the vehicle body lower member and the pair of side members in the link mechanism is the width of each wheel as viewed in the vehicle traveling direction. A pair of upper swing fulcrums of the vehicle body upper member and the pair of side members in the link mechanism are respectively disposed at the center positions, and are disposed inside the pair of lower swing fulcrums in the vehicle width direction; And it is arrange | positioned in the space inside the said pair of wheel . Thereby, the mounting area of the vehicle main body can be further expanded, and the turning operation of the coaxial two-wheeled vehicle can be stabilized.

本発明によれば、車両本体部の搭載領域の確保と旋回動作の安定とを両立させた同軸二輪車を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the coaxial two-wheeled vehicle which made the securing of the mounting area | region of a vehicle main-body part and the stability of turning operation | movement compatible can be provided.

実施の形態にかかる同軸二輪車の側面図である。1 is a side view of a coaxial two-wheeled vehicle according to an embodiment. 実施の形態にかかる車両本体部の概要図である。It is a schematic diagram of the vehicle body part concerning an embodiment. 実施の形態にかかる車両本体部の概要図である。It is a schematic diagram of the vehicle body part concerning an embodiment.

実施の形態１
以下、図面を参照して本発明の実施の形態について説明する。図１は、実施の形態にかかる同軸二輪車１の側面図である。同軸二輪車１は、車両本体部１０、ステップ１１、搭載機器１２、車輪１３、ハンドル１４、グリップ１５を有する。 Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of a coaxial two-wheeled vehicle 1 according to an embodiment. The coaxial two-wheeled vehicle 1 includes a vehicle main body 10, a step 11, a mounted device 12, wheels 13, a handle 14, and a grip 15.

ステップ１１は運転者が搭乗するためのものであり、同軸二輪車の進行方向に対して左右で２つに分かれている。   Step 11 is for the driver to board and is divided into two on the left and right with respect to the traveling direction of the coaxial two-wheeled vehicle.

搭載機器１２は、車両本体部１０内部に搭載され、車輪１３を稼働させるモータや、同軸二輪車１の姿勢を検出するためのセンサ、リンクの変位を検出するセンサ等を備える。   The mounted device 12 is mounted inside the vehicle main body 10 and includes a motor that operates the wheel 13, a sensor for detecting the attitude of the coaxial two-wheel vehicle 1, a sensor for detecting the displacement of the link, and the like.

車輪１３は、進行方向に直交する方向に同軸状に配置され、車両本体部１０に対して回転可能に支持されている。   The wheels 13 are coaxially arranged in a direction orthogonal to the traveling direction, and are supported so as to be rotatable with respect to the vehicle body 10.

図２は、車両本体部の概要を示す図である。車両本体部１０は、車体上部材１０１と、車体下部材１０２と、側面部材１０３、１０４と、を備える。   FIG. 2 is a diagram showing an outline of the vehicle main body. The vehicle main body 10 includes a vehicle body upper member 101, a vehicle body lower member 102, and side members 103 and 104.

車体上部材１０１及び車体下部材１０２は平行に設けられ、それぞれ板状の形状である。側面部材１０３及び１０４は平行に設けられ、板状の形状である。車体上部材１０１は、側面部材１０３及び１０４と軸１０６を介して回動可能に連結されている。
車体上部材１０１は、軸１０６を介してステップ１１と接続されている。 The vehicle body upper member 101 and the vehicle body lower member 102 are provided in parallel and each have a plate shape. The side members 103 and 104 are provided in parallel and have a plate shape. The vehicle body upper member 101 is rotatably connected to the side members 103 and 104 via the shaft 106.
The vehicle body upper member 101 is connected to the step 11 via the shaft 106.

車体下部材１０２は、側面部材１０３及び１０４と軸１０７を介して回動可能に連結されている。これにより、車両本体部１０は、４リンク構造をなしている。また、軸１０７は、車輪１３の幅の中心となるように構成されている。 Car body lower member 102 is pivotally connected via the side members 103 and 104 and the shaft 107. Thereby, the vehicle main body 10 has a four-link structure. The shaft 107 is configured to be the center of the width of the wheel 13.

図２（ｂ）は、車両本体部のリンク構造を説明するための図である。図２（ｂ）に示すように、車両本体部１０の４リンク構造は、１自由度を有し、軸１０７を搖動支点として搖動する。   FIG. 2B is a view for explaining the link structure of the vehicle main body. As shown in FIG. 2B, the four-link structure of the vehicle main body 10 has one degree of freedom and swings with the shaft 107 as a swing fulcrum.

側面部材１０３及び１０４は、ステップ１１と連結される。図２（ａ）の破線で示されるように、ステップ１１が傾くとき、すなわち同軸二輪車１が旋回動作を行う場合には、側面部材１０３及び１０４も、ステップ１１の傾きに合わせて傾く。   The side members 103 and 104 are connected to the step 11. As shown by the broken line in FIG. 2A, when step 11 tilts, that is, when the coaxial two-wheel vehicle 1 performs a turning operation, the side members 103 and 104 also tilt according to the tilt of step 11.

実施の形態にかかる同軸二輪車１では、車両本体部１０の搖動支点となる軸１０７を車輪１３の幅の中心となる位置に設けている。これにより、運転手がステップ１１に搭乗した場合に、車両本体部１０の搖動支点である軸１０７が、搭乗者の踵より外側にレイアウトすることができ、同軸二輪車の旋回動作においても安定して操作をすることができる。また、ステップの高さを最小に設定でき、これにより、よりコンパクトにすることができる。   In the coaxial two-wheeled vehicle 1 according to the embodiment, a shaft 107 that is a swing fulcrum of the vehicle main body 10 is provided at a position that is the center of the width of the wheel 13. As a result, when the driver gets on the step 11, the shaft 107, which is the swing fulcrum of the vehicle main body 10, can be laid out outside the passenger's heel, which is stable even in the turning operation of the coaxial two-wheeled vehicle. Can be operated. Further, the height of the step can be set to the minimum, thereby making it more compact.

さらに、車体下部材１０２に搭載機器１２を配置することができるため、搭載領域を増加させることができる。また、これにより価格を抑え、高信頼性のものとすることができる。   Furthermore, since the mounted device 12 can be disposed on the lower body member 102, the mounting area can be increased. In addition, this can reduce the price and make it highly reliable.

図３（ａ）、（ｂ）は、本実施の形態にかかる車両本体部１０の変形例を示す図である。図３（ａ）は、ステップ１１の変位量を低減させ、同軸二輪車１がよりステップ１１の傾きに対して敏感に動作するように構成したものである。ここでは、ステップ１１と搖動支点１０７とを近づけている。同軸二輪車１は搖動リンクの変位を測定して旋回指示としているため、これにより、より運転者の操作に敏感にすることができる。   FIGS. 3A and 3B are views showing a modification of the vehicle main body 10 according to the present embodiment. FIG. 3A shows a configuration in which the amount of displacement in step 11 is reduced and the coaxial two-wheeled vehicle 1 operates more sensitively to the inclination in step 11. Here, step 11 and peristaltic fulcrum 107 are brought close to each other. Since the coaxial two-wheel vehicle 1 measures the displacement of the peristaltic link and gives a turning instruction, this makes it more sensitive to the operation of the driver.

図３（ｂ）は、車両本体部１０の４リンク構造を台形としたものである。この構成では、メカストッパに替えて、リンク特異姿勢により担う。この構成とすることにより、操作入力側のステップの変位量をもう一方のステップの変位量より大きくとることができる。   FIG. 3B shows a trapezoidal 4-link structure of the vehicle body 10. In this configuration, instead of the mechanical stopper, it is carried by a link specific posture. With this configuration, the displacement amount of the step on the operation input side can be made larger than the displacement amount of the other step.

なお、本発明は上記実施の形態に限られたものではなく、趣旨を逸脱しない範囲で適宜変更することが可能である。   Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

１ 同軸二輪車
１０ 車両本体部
１１ ステップ
１２ 搭載機器
１３ 車輪
１４ ハンドル
１５ グリップ
１０１ 車体上部材
１０２ 車体下部材
１０３、１０４ 側面部材 DESCRIPTION OF SYMBOLS 1 Coaxial two-wheeled vehicle 10 Vehicle main-body part 11 Step 12 Mounted equipment 13 Wheel 14 Handle 15 Grip 101 Car body upper member 102 Car body lower member 103,104 Side member

Claims (1)

運転者が搭乗するために進行方向に直交する方向に対して両側に設けられた２つのステッププレートと、
前記ステッププレートを支持する車両本体部と、
進行方向に直交する方向に同軸状に配置され、前記車両本体部に対して回転可能に支持された一対の車輪と、
前記一対の車輪を独立して駆動させる駆動手段と、を具備し、
前記車両本体部は、
地面に対して平行に設けられた車体上部材及び車体下部材と、前記ステッププレートに連結されるとともに、前記車体上部材及び車体下部材と回動可能に連結された一対の側面部材と、を備えるリンク機構を有し、
前記リンク機構における前記車体下部材と前記一対の側面部材との一対の下側搖動支点は、車両進行方向に見て各車輪の幅の中心となる位置にそれぞれ設けられ、前記リンク機構における前記車体上部材と前記一対の側面部材との一対の上側搖動支点は、前記一対の下側揺動支点の車幅方向の内側に配置され、かつ、前記一対の車輪の内側の空間に配置されている、同軸二輪車。 Two step plates provided on both sides with respect to the direction orthogonal to the traveling direction for the driver to board;
A vehicle main body for supporting the step plate;
A pair of wheels arranged coaxially in a direction orthogonal to the traveling direction and rotatably supported with respect to the vehicle main body;
Driving means for independently driving the pair of wheels,
The vehicle main body is
And the vehicle body upper member and the vehicle body lower member provided in parallel to the ground, while being connected to said step plate, the vehicle body upper member and the car body lower member and a rotatably connected to a pair of side members A link mechanism comprising
A pair of lower sliding fulcrum points of the vehicle body lower member and the pair of side members in the link mechanism are respectively provided at positions that become the centers of the widths of the wheels as viewed in the vehicle traveling direction, and the vehicle body in the link mechanism A pair of upper swing fulcrums of the upper member and the pair of side members are disposed inside the pair of lower swing fulcrums in the vehicle width direction and disposed in a space inside the pair of wheels. , Coaxial motorcycle.
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Family Cites Families (4)

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JP2011183864A (en) * 2010-03-05 2011-09-22 Toyota Motor Corp Moving body
JP2012126258A (en) * 2010-12-15 2012-07-05 Toyota Motor Corp Inverted two-wheel vehicle
US8584782B2 (en) * 2011-08-02 2013-11-19 Shane Chen Two-wheeled self-balancing motorized personal vehicle with tilting wheels
JP2013095180A (en) * 2011-10-28 2013-05-20 Toyota Motor Corp Coaxial two-wheel vehicle

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