JP6439433B2 - Inverted moving body - Google Patents

Description

  The present invention relates to an inverted moving body, and more particularly, to an inverted moving body that performs an inverted control by driving wheels arranged coaxially.

  Since a general inverted moving body becomes unstable when a user gets on the inverted moving body or gets off from the inverted moving body, it is preferable that the stability of the inverted moving body in the front-rear direction can be ensured. For example, the inverted moving body of Patent Document 1 includes an auxiliary wheel, and the actuator is controlled so that the vehicle body is horizontal when the user gets on the inverted moving body or gets off from the inverted moving body. The height is controlled.

JP 2011-218847 A

  The technology of Patent Document 1 can ensure the stability of the inverted moving body in the front-rear direction when the user gets on the inverted moving body or gets off from the inverted moving body. Since it is controlled, the configuration is complicated.

  The present invention has been made in view of the above, and ensures the stability of the inverted moving body in the front-rear direction when the user gets on the inverted moving body or gets off from the inverted moving body with a simple configuration. Provide an inverted moving body that can

The inverted moving body according to one aspect of the present invention is an inverted moving body that realizes an inverted control by driving wheels arranged coaxially,
The inverted moving body includes an auxiliary mechanism capable of supporting the inverted moving body,
The auxiliary mechanism is
Lever,
A driving pulley that rotates in the front-rear direction of the inverted moving body according to the rotation of the lever;
A driven pulley that rotates in the front-rear direction of the inverted moving body with the rotation of the drive pulley;
A support portion having a grounding surface that rotates in the front-rear direction of the inverted moving body in accordance with the rotation of the driven pulley and contacts the ground;
A wire guide disposed below the drive pulley and having an arc surface on the upper surface;
First and second wires connecting the drive pulley and the driven pulley;
When the lever rotates from the most rotated front or rear of the inverted moving body to the other and the first wire rotates the driven pulley via the drive pulley, the support portion The support part rotates so that the ground contact surface of the
When the lever rotates to the other side from the most rotated state and the second wire rotates the driven pulley via the driving pulley, the grounding surface of the support portion approaches the ground. The support rotates ,
The paths of the first wire and the second wire are reversed on the arc surface of the wire guide .

  According to the present invention, there is provided an inverted moving body capable of ensuring stability in the front-rear direction of the inverted moving body when the user gets on the inverted moving body or gets off from the inverted moving body with a simple configuration. be able to.

It is a perspective view which shows an inverted moving body typically. It is a perspective view which shows the periphery structure of the lever of an auxiliary mechanism. It is a different perspective view which shows the periphery structure of the lever of an auxiliary mechanism. It is a left view which shows the periphery structure of the lever of an auxiliary mechanism. It is a right view which shows the periphery structure of the lever of an auxiliary mechanism. It is a perspective view which shows the periphery structure of the driven pulley of an auxiliary mechanism. It is a different perspective view which shows the periphery structure of the driven pulley of an auxiliary mechanism. It is a figure which shows the lever and support part at the time of rotating a support part ahead of an inverted moving body. It is a figure which shows the lever and support part at the time of rotating a support part to the back of an inverted moving body.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
A basic configuration of the inverted moving body according to the present embodiment will be described. FIG. 1 is a perspective view schematically showing an inverted moving body according to the present embodiment. As shown in FIG. 1, the inverted moving body 1 includes left and right drive wheels 2 arranged coaxially, a riding portion 3 on which a user rides, and a front portion of the riding portion 3 that can rotate in the left-right direction of the inverted moving body 1. Is provided with an auxiliary mechanism 5 that can support the handle 4 and the inverted moving body 1.

  When the user gets on the riding part 3 and rotates the inverted moving body 1 in the front-rear direction, the inverted moving body 1 is based on the rotation angle of the inverted moving body 1 in the front-rear direction. The drive wheel 2 is controlled so as to maintain the inverted state.

  Further, when the user rotates the handle 4 in the left-right direction of the inverted moving body 1, the inverted moving body 1 realizes turning of the inverted moving body 1 in the left-right direction based on the rotation angle of the handle 4. The drive wheel 2 is controlled.

  The user operates the auxiliary mechanism 5 and stabilizes the inverted moving body 1 by the auxiliary mechanism 5 in order to stabilize the inverted moving body 1 when getting on the riding section 3 and getting off from the riding section 3. Is supported in an inverted position.

Next, the configuration of the auxiliary mechanism 5 in the inverted moving body of the present embodiment will be described in detail. FIG. 2 is a perspective view showing the peripheral structure of the lever of the auxiliary mechanism in the inverted moving body of the present embodiment.
FIG. 3 is a different perspective view showing the peripheral structure of the lever of the auxiliary mechanism in the inverted moving body of the present embodiment. FIG. 4 is a left side view showing the peripheral structure of the lever of the auxiliary mechanism in the inverted moving body of the present embodiment. FIG. 5 is a right side view showing the peripheral structure of the lever of the auxiliary mechanism in the inverted moving body of the present embodiment. FIG. 6 is a perspective view showing the peripheral structure of the driven pulley of the auxiliary mechanism in the inverted moving body of the present embodiment. FIG. 7 is a different perspective view showing the peripheral structure of the driven pulley of the auxiliary mechanism in the inverted moving body of the present embodiment. In each figure, in order to clarify the configuration, some members are indicated by phantom lines (two-dot chain lines).

  As shown in FIGS. 2 to 7, the auxiliary mechanism 5 of the present embodiment includes a lever 6, a drive pulley 7, a driven pulley 8, a support portion 9, a first wire 10, and a second wire 11. . As shown in FIGS. 1 to 3, the lever 6 is provided in the handle 4 so as to be rotatable in the front-rear direction of the inverted moving body 1. As shown in FIGS. 2 and 3, the lever 6 of the present embodiment is provided on a rotating shaft 12 extending in the left-right direction of the inverted moving body 1, and is fixed to support the rotating shaft 12 rotatably. It is provided at the front part of the handle 4 via a jig 13.

  The drive pulley 7 rotates in the front-rear direction of the inverted moving body 1 as the lever 6 rotates. The drive pulley 7 of the present embodiment is supported by the rotary shaft 12 in a form in which the rotational force of the rotary shaft 12 is transmitted. And the drive pulley 7 is provided with the 1st drive pulley 7a and the 2nd drive pulley 7b, as shown in FIG. 2 thru | or FIG.

  In order to rotate the first driving pulley 7 a and the second driving pulley 7 b, a lever 14 is provided on the rotating shaft 12, and screw members 15 are respectively screwed into both ends of the lever 14.

  When the rotating shaft 12 rotates rearward of the inverted moving body 1 (that is, rotates counterclockwise when the inverted moving body 1 is viewed from the right side), the tip of one screw member 15 is the protruding portion 7a1 of the first drive pulley 7a. And the first drive pulley 7a is rotated rearward of the inverted moving body 1. On the other hand, when the rotary shaft 12 rotates forward of the inverted moving body 1 (that is, when the inverted moving body 1 is rotated clockwise as viewed from the right side), the end of the other screw member 15 protrudes from the second drive pulley 7b. The second drive pulley 7b is rotated in front of the inverted moving body 1 in contact with the portion 7b1.

  The driven pulley 8 rotates in the front-rear direction of the inverted moving body 1 as the driving pulley 7 rotates. As shown in FIGS. 6 and 7, the driven pulley 8 of the present embodiment is provided on a rotating shaft 16 that extends in the left-right direction of the inverted moving body 1, and rotatably supports the rotating shaft 16. It is provided in the front part of the riding part 3 through the fixing jig 17.

  The support portion 9 rotates in the front-rear direction of the inverted moving body 1 as the driven pulley 8 rotates. The support portion 9 of the present embodiment is formed in a substantially inverted T shape and includes an assist bar 9a and a connecting portion 9b.

  As shown in FIG. 6, the assist bar 9 a extends in the left-right direction of the inverted moving body 1 and includes a grounding surface 9 a 1 that contacts the ground. The connecting portion 9b rises from the approximate center in the left-right direction of the inverted moving body 1 on the surface opposite to the ground contact surface 9a1 of the assist bar 9a, and the tip portion is connected to the driven pulley 8.

  One end of the first wire 10 is connected to the first drive pulley 7 a and the other end is connected to the driven pulley 8. One end of the second wire 11 is connected to the second drive pulley 7 b, and the other end is connected to the driven pulley 8.

  Next, the operation of the auxiliary mechanism 5 in the inverted moving body of the present embodiment will be described. In FIG. 8, the left diagram shows a state when the lever is rotated backward, and the right diagram shows the rotation of the support portion when the lever is rotated backward. In FIG. 9, the left diagram shows a state when the lever is rotated forward, and the right diagram is a diagram showing the rotation of the support portion when the lever is rotated forward.

  When the lever 6 rotates either forward or backward of the inverted moving body 1 and the drive pulley 7 rotates the driven pulley 8 via the first wire 10, the grounding surface 9a1 of the support portion 9 comes off the ground. The support portion 9 rotates so as to leave. Further, when the lever 6 rotates to the other side and the driving pulley 7 rotates the driven pulley 8 via the second wire 11, the supporting portion 9 rotates so that the grounding surface 9a1 of the supporting portion 9 approaches the ground. To do.

  In the present embodiment, as shown in FIG. 8, when the lever 6 is rotated most forward of the inverted moving body 1, the grounding surface 9a1 of the support portion 9 is closest to the ground, and the grounding surface 9a1 is grounded. And face each other. From this state, when the user rotates the lever 6 rearward (in the direction of arrow A), the driven pulley 8 rotates with the rotation of the first drive pulley 7a, and the ground contact surface 9a1 moves away from the ground and is an inverted moving body. 1, the support portion 9 rotates counterclockwise as viewed from the right side of the inverted moving body 1 (in the direction of arrow B).

  On the other hand, as shown in FIG. 9, when the lever 6 is rotated to the most rearward side of the inverted moving body 1, the grounding surface 9 a 1 of the support portion 9 is arranged substantially toward the front of the inverted moving body 1. From this state, when the user rotates the lever 6 forward (in the direction of arrow C), the driven pulley 8 rotates with the rotation of the second drive pulley 7b, so that the ground contact surface 9a1 faces the ground substantially. The support portion 9 rotates clockwise when viewed from the right side of the inverted moving body 1 (in the direction of arrow D).

  Thus, in this Embodiment, the support part 9 is operated by the simple structure using a pulley, a wire, etc. Therefore, the inverted moving body 1 of the present embodiment has a simple configuration and ensures the stability of the inverted moving body 1 in the front-rear direction when the user gets on the inverted moving body 1 or gets off from the inverted moving body 1. can do.

  Moreover, in the present embodiment, when the screwing amount of the screw member 15 is adjusted, the tension of the first wire 10 and the second wire 11 can be individually adjusted. For example, as shown in FIG. 8, when the screw member 15 is rotated in the direction of arrow E, the second drive pulley 7b is rotated forward (in the direction of arrow F) of the inverted moving body 1 and the second wire 11 is moved. The tension can be adjusted.

<Embodiment 2>
Here, as shown in FIGS. 3 to 5, it is preferable that a wire guide 18 is provided below the drive pulley 7. The wire guide 18 has a substantially semi-cylindrical shape when viewed from the left-right direction of the inverted moving body 1 and includes an arc surface 18a on the upper surface.

  Such a wire guide 18 is disposed below the drive pulley 7, and is provided on the handle 4 via a fixing jig 13. And the path | route of the 1st wire 10 and the 2nd wire 11 is reversed on the circular arc surface 18a of the wire guide 18 (namely, front and back are switched).

  With such a configuration, the range in which the first wire 10 and the second wire 11 are in contact with the drive pulley 7 can be concentrated on the lower side of the drive pulley 7, and the drive pulley 7 can be reduced in size. . Moreover, the operation amount of the lever 6 can be reduced.

<Embodiment 3>
In addition, it is preferable that the lever 6 be fixed at a position where the lever 6 is rotated most forward and the position where the lever 6 is rotated most rearward of the inverted movable body 1. For example, as shown in FIGS. 3 and 4, the lever 6 includes a hook portion 6 b that is biased in the tension direction by an elastic body 6 a such as a coil spring. A positioning plate 19 is provided on the handle 4 via the fixing jig 13, and a hook portion 6 b of the lever 6 is inserted into a notch portion 19 a formed in the positioning plate 19.

  When the lever 6 reaches the vicinity of the position where the lever 6 is rotated most forward of the inverted moving body 1, the hook portion 6b is fitted into the first groove portion 19b of the notch portion 19a in the positioning plate 19, and the position of the lever 6 is fixed. .

  On the other hand, when the lever 6 reaches the vicinity of the position where it is rotated most backward of the inverted moving body 1, the hook portion 6b is fitted into the second groove portion 19c of the notch portion 19a in the positioning plate 19, and the position of the lever 6 is fixed. Is done.

  Then, when the push button 6c provided at the tip of the lever 6 is pushed in, the hook portion 6b is pushed out by the elastic force of the elastic body 6a so as to be detached from the first groove portion 19b and the second groove portion 19c of the notch portion 19a. As a result, the lever 6 becomes rotatable.

  By fixing the position of the lever 6 to a predetermined position in this way, the posture of the support portion 9 can be fixed.

  Here, it is preferable that a position detection unit for detecting the position of the support unit 9 is provided. In the present embodiment, as shown in FIG. 7, the position at which the support portion 9 is rotated most forward of the inverted moving body 1 (that is, the position at which the grounding surface 9a1 of the support portion 9 is farthest from the ground) is detected. 1 position detection unit 20 and a second position detection unit 21 that detects a position where the support unit 9 is most rotated to the rear of the inverted moving body 1 (that is, a position where the ground contact surface 9a1 of the support unit 9 is closest to the ground). It has.

  The first position detection unit 20 and the second position detection unit 21 include, for example, a limit switch, and are brought into an ON state when a protruding portion (not shown) formed on the rotating shaft 16 comes into contact. That is, when the support portion 9 reaches the position rotated forward of the inverted moving body 1, the protruding portion of the rotating shaft 16 contacts the first position detection portion 20, and the first position detection portion 20 is in the ON state. It becomes.

  On the other hand, when the support part 9 reaches the position rotated most backward of the inverted moving body 1, the protruding part of the rotating shaft 16 contacts the second position detection part 21, and the second position detection part 21 is in the ON state. It becomes. Thereby, the position of the support part 9 can be detected easily.

  At this time, when the first position detection unit 20 or the second position detection unit 21 is turned on, the hook portion 6b of the lever 6 is moved to the first groove portion 19b or the second groove portion 19c of the positioning plate 19. The shapes of the first groove portion 19b and the second groove portion 19c are set so as to be fitted.

  In the present embodiment, limit switches are used as the first position detection unit 20 and the second position detection unit 21, but the attitude of the support unit 9 may be derived using an encoder or the like.

  Further, in the present embodiment, the protrusions that contact the first position detection unit 20 and the second position detection unit 21 are provided on the rotating shaft, but the protrusions may be provided on the driven pulley 8. .

  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.

DESCRIPTION OF SYMBOLS 1 Inverted moving body 2 Drive wheel 3 Riding part 4 Handle 5 Auxiliary mechanism 6 Lever, 6a Elastic body, 6b Hook part, 6c Button 7 Drive pulley 7a 1st drive pulley, 7a1 Projection part 7b 2nd drive pulley, 7b1 Projection Part 8 driven pulley 9 support part, 9a assist bar, 9a1 grounding surface, 9b connecting part 10 first wire 11 second wire 12 rotating shaft 13 fixing jig 14 lever 15 screw member 16 rotating shaft 17 fixing jig 18 wire guide, 18a Circular arc surface 19 Plate, 19a Notch part, 19b 1st groove part, 19c 2nd groove part 20 1st position detection part 21 2nd position detection part

Claims (1)

An inverted moving body that realizes inverted control by driving wheels arranged coaxially,
The inverted moving body includes an auxiliary mechanism capable of supporting the inverted moving body,
The auxiliary mechanism is
Lever,
A driving pulley that rotates in the front-rear direction of the inverted moving body according to the rotation of the lever;
A driven pulley that rotates in the front-rear direction of the inverted moving body with the rotation of the drive pulley;
A support portion having a grounding surface that rotates in the front-rear direction of the inverted moving body in accordance with the rotation of the driven pulley and contacts the ground;
A wire guide disposed below the drive pulley and having an arc surface on the upper surface;
First and second wires connecting the drive pulley and the driven pulley;
When the lever rotates from the most rotated front or rear of the inverted moving body to the other and the first wire rotates the driven pulley via the drive pulley, the support portion The support part rotates so that the ground contact surface of the
When the lever rotates to the other side from the most rotated state and the second wire rotates the driven pulley via the driving pulley, the grounding surface of the support portion approaches the ground. The support rotates ,
The inverted moving body in which the path of the first wire and the second wire is reversed on an arc surface of the wire guide .

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