JP6589722B2 - Inverted motorcycle - Google Patents

Description

  The present invention relates to an inverted motorcycle.

  In recent years, a balance training apparatus using an inverted motorcycle has been put into practical use on a trial basis. For example, Patent Literature 1 discloses a balance training device that performs balance training by performing a traveling operation such as movement of the center of gravity in a state where the inverted control of an inverted motorcycle is intentionally reduced.

  The inverted two-wheeled vehicle used in the balance training apparatus of Patent Document 1 includes a left and right step plate on which a rider puts his / her foot, and a parallel link mechanism that supports the left and right step plates so as to be interlocked with the left and right step plates. And a base that supports the parallel link mechanism, and a handle that is connected to the upper and lower horizontal links of the parallel link mechanism and that is operated by the passenger, and that is configured to turn based on the rotation angle of the step plate.

Japanese Patent No. 5413027

  From the viewpoint of the effect of balance training, it is preferable that the passenger turns the inverted motorcycle by rotating the parallel link mechanism based on the load operation to the left and right step plates. When trying to do so, an operation by the upper limbs, that is, an attempt to turn the inverted two-wheeled vehicle by rotating the parallel link mechanism, and thus the step plate, through the handlebars. For this reason, the inverted motorcycle of Patent Document 1 may reduce the effect of balance training.

  This invention is made | formed in view of the above, Comprising: The inverted motorcycle which can improve the effect of balance training is implement | achieved.

An inverted motorcycle according to an aspect of the present invention includes a left and right step plate on which a rider puts his / her foot, a parallel link mechanism that supports the left and right step plates so as to interlock with the left and right step plates, and the parallel link mechanism An inverted two-wheeled vehicle that is connected to the upper and lower horizontal links of the parallel link mechanism and that is operated by the occupant and that turns based on the rotation angle of the step plate,
In order to reduce the interlocking ratio of the rotation angle of the step plate with respect to the rotation angle of the handle, the adjustment mechanism provided on the lateral link on the upper side of the parallel link mechanism,
The adjusting mechanism adjusts a distance between a connecting portion between one vertical link and the upper horizontal link in the parallel link mechanism and a connecting portion between the upper horizontal link and the handle in the parallel link mechanism. And a second connecting portion between the other vertical link and the upper horizontal link in the parallel link mechanism, and a second connecting portion between the upper horizontal link and the handle in the parallel link mechanism. And an actuator.

  ADVANTAGE OF THE INVENTION According to this invention, the inverted motorcycle which can improve the effect of balance training is realizable.

It is a perspective view which shows typically the balance training apparatus of Embodiment 1. FIG. It is a figure for demonstrating the structure of the parallel link mechanism periphery of the inverted two-wheeled vehicle used for the balance training apparatus of Embodiment 1. FIG. 2 is a block diagram of a control system of the balance training apparatus according to Embodiment 1. FIG. It is a flowchart figure which shows the flow until a control apparatus outputs the signal which shows a step interlocking | linkage rate to an inverted motorcycle when starting a balance training. It is a flowchart figure which shows the flow of control of the left and right actuators in the adjustment mechanism of the inverted two-wheeled vehicle when executing balance training. It is a figure which shows typically the parallel link mechanism periphery at the time of rotating a handle to the right side of an inverted two-wheeled vehicle, when the rotation angle of a handle and the rotation angle of a step plate are made equal. It is a figure which shows typically the parallel link mechanism periphery at the time of rotating the handle | steering-wheel to the right side of an inverted two-wheeled vehicle at the time of reducing the interlocking ratio of the rotation angle of a step plate with respect to the rotation angle of a handle. 6 is a block diagram of a control system of a balance training apparatus according to Embodiment 2. FIG. It is a flowchart figure which shows the flow until the control apparatus at the time of setting an achievement level using a remote controller outputs the signal which shows a step interlocking | linkage rate to an inverted motorcycle. FIG. 10 is a front view for explaining an adjustment mechanism in an inverted two-wheeled vehicle of a third embodiment. FIG. 10 is a plan view for illustrating an adjustment mechanism in an inverted two-wheeled vehicle according to a third embodiment. It is a top view which shows typically operation | movement of the adjustment mechanism at the time of rotating a handle | steering-wheel to the right side of an inverted motorcycle. It is a top view which shows typically operation | movement of the adjustment mechanism at the time of rotating a handle | steering-wheel to the left side of an inverted motorcycle. It is a figure for demonstrating the structure of the parallel link mechanism periphery of a different inverted motorcycle.

  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 balance training apparatus according to the present embodiment will be described. FIG. 1 is a perspective view schematically showing the balance training apparatus of the present embodiment. FIG. 2 is a diagram for explaining the configuration around the parallel link mechanism of the inverted two-wheeled vehicle used in the balance training apparatus of the present embodiment. FIG. 3 is a block diagram of a control system of the balance training apparatus of the present embodiment.

  As shown in FIG. 1, the balance training device 1 includes an inverted motorcycle 2, a control device 3, a monitor 4, and a fall prevention frame 5. As shown in FIGS. 1 to 3, the inverted motorcycle 2 includes left and right step plates 6 a and 6 b, a parallel link mechanism 7, left and right wheels 8 a and 8 b, a base 9, a handle 10, an adjustment mechanism 11, and an attitude detection unit 12. The step angle detector 13 and the control processor 14 are provided.

  The passenger's feet are placed on the left and right step plates 6a and 6b, respectively. The parallel link mechanism 7 supports the left and right step plates 6a and 6b so as to interlock with the left and right step plates 6a and 6b.

  The parallel link mechanism 7 includes an upper lateral link 7a disposed so as to sandwich the base 9 from the front-rear direction of the inverted motorcycle 2, and a lower lateral link disposed so as to sandwich the base 9 from the front-rear direction of the inverted motorcycle 2. A link 7b, and left and right vertical links 7c and 7d disposed between the front and rear upper horizontal links 7a and the front and rear lower horizontal links 7b are provided.

  The central portions of the upper and lower horizontal links 7 a and 7 b are connected to the base 9 so as to be rotatable about a rotating shaft 7 e extending in the front-rear direction of the inverted motorcycle 2. The left ends of the upper and lower horizontal links 7a and 7b are coupled to the left vertical link 7c so as to be rotatable about a rotating shaft 7f extending in the front-rear direction of the inverted two-wheeled vehicle 2. The right ends of the upper and lower horizontal links 7a and 7b are connected to the right vertical link 7d so as to be rotatable about a rotating shaft 7g extending in the front-rear direction of the inverted motorcycle 2. Here, as described later, the adjustment mechanism 11 can adjust the distance between the rotation shaft 7e and the rotation shaft 7f in the upper side link 7a and the distance between the rotation shaft 7e and the rotation shaft 7g in the upper side link 7a. For this purpose, the upper link 7a is provided with a movable portion of the rotating shaft 7e.

  A left step plate 6a is provided at the upper end of the left vertical link 7c. A right step plate 6a is provided at the upper end of the right vertical link 7d.

  Such a parallel link mechanism 7 is good to be set as the structure which returns to the neutral state from the state rotated in the left-right direction of the inverted motorcycle 2 with the elastic member which abbreviate | omitted illustration.

  The left wheel 8a is connected to the left vertical link 7c via the left wheel drive unit 15a. The right wheel 8b is connected to the right vertical link 7d via the right wheel drive unit 15b. The left and right wheel drive units 15a and 15b include a speed reducer, a motor, and the like, not shown.

  The base 9 supports the parallel link mechanism 7 via the rotating shaft 7e. On such a base 9, for example, the control processing unit 14 of the inverted motorcycle 2 and a battery (not shown) are mounted.

  The handle 10 is operated by a passenger. The lower portion of the handle 10 is connected to the base 9 so that the upper and lower horizontal links 7a and 7b and the rotation shaft 7e are common and can be rotated around the rotation shaft 7e. Therefore, when the passenger rotates the handle 10 in the left-right direction of the inverted motorcycle 2, the parallel link mechanism 7 rotates in the left-right direction of the inverted motorcycle 2 as the handle 10 rotates. Then, the left and right step plates 6 a and 6 b rotate in the left-right direction of the inverted motorcycle 2 so as to be interlocked with the rotation of the inverted motorcycle 2 in the left-right direction in the parallel link mechanism 7.

  The adjustment mechanism 11 is provided on the horizontal link 7a on the upper side of the parallel link mechanism 7 in order to reduce the interlocking ratio of the rotation angle of the parallel link mechanism 7 with respect to the rotation angle of the handle 10, and includes a first actuator (on the left side). Actuator) 11a and a second actuator (right actuator) 11b.

  The left and right actuators 11a and 11b are configured to be extendable and contracted, and include a reduction gear, a motor, and the like. The left actuator 11a is disposed between the rotation shaft 7e and the rotation shaft 7f of the upper lateral link 7a. The right actuator 11b is disposed between the rotary shaft 7e and the rotary shaft 7g in the upper horizontal link 7a.

  Incidentally, since the left and right actuators 11a and 11b are provided in the front and rear upper side links 7a, the inverted two-wheeled vehicle 2 of the present embodiment includes two sets of left and right actuators 11a and 11b. In order to simplify the drawing, only one set of left and right actuators 11a and 11b is shown.

  The posture detection unit 12 detects the rotation angle of the inverted motorcycle 2 in the front-rear direction, and outputs a detection signal to the control processing unit 14. As the posture detection unit 12, a general posture detection device can be used, and for example, a gyro sensor or an acceleration sensor can be used.

  The step angle detection unit 13 detects the rotation angle of the inverted two-wheeled vehicle 2 in the left-right direction in at least one of the left and right step plates 6 a, 6 b and outputs a detection signal to the control processing unit 14. As the step angle detection unit 13, a general angle detection device can be used, and for example, a potentiometer or an encoder can be used.

  The control processing unit 14 maintains the inverted state of the inverted two-wheeled vehicle 2 based on the detection signals of the posture detection unit 12 and the left and right wheel angle detection units 16a and 16b that detect the rotation angles of the left and right wheels 8a and 8b. A posture command signal is generated so as to realize the acceleration, and the generated posture command signal is output to the left and right wheel drive circuits 17a and 17b.

  Further, the control processing unit 14 generates a turn command signal so as to realize the turn of the inverted motorcycle 2 in the left-right direction based on the detection signals of the step angle detection unit 13 and the left and right wheel angle detection units 16a, 16b. Then, the generated turn command signal is output to the left and right wheel drive circuits 17a and 17b.

  The left and right wheel drive circuits 17a and 17b calculate the drive current values of the motors of the left and right wheel drive units 15a and 15b based on the attitude command signal and the turn command signal, and drive the motors with the calculated drive current values. .

  Furthermore, although the details will be described later, the control processing unit 14 does not change the distance between the rotation shaft 7f and the rotation shaft 7g in the upper side link 7a, and the left and right step plates 6a and 6b with respect to the rotation angle of the handle 10 are not changed. In order to change the interlocking ratio of the rotation angle, the left and right actuators 11a and 11b of the adjustment mechanism 11 are controlled.

  Such a control processing unit 14 includes a storage device 14a, an arithmetic circuit 14b, a vehicle information output unit 14c, and an information acquisition unit 14d. The storage device 14a stores a program for controlling the operation of the inverted motorcycle 2. The arithmetic circuit 14b reads the program from the storage device 14a and executes it in order to realize the above-described control.

  The vehicle information output unit 14c calculates and calculates the position, speed, direction, and inclination of the inverted motorcycle 2 based on the detection signals of the attitude detection unit 12, the step angle detection unit 13, and the left and right wheel angle detection units 16a and 16b. A signal indicating the position, speed, direction and inclination of the inverted motorcycle 2 is output to the control device 3 via the communication unit 17.

  The information acquisition unit 14 d acquires a signal indicating the step linkage rate input from the control device 3 via the communication unit 17. Here, the step interlocking rate is the interlocking rate of the rotation angles of the left and right step plates 6 a and 6 b with respect to the rotation angle of the handle 10.

  The control device 3 causes the monitor 4 to display a balance training video for the passenger of the inverted motorcycle 2 to perform balance training, and calculates the step interlocking rate based on the achievement level of balance training.

  The control device 3 of the present embodiment displays a ski game on the monitor 4 and moves the skier on the ski game based on the operation of the inverted motorcycle 2. And the control apparatus 3 calculates a step interlocking | linkage rate based on the achievement level of a ski game.

  Specifically, the control device 3 includes an achievement level determination unit 18, a step interlocking rate calculation unit 19, a storage unit 20, a control unit 21, and a video output unit 22. The achievement level determination unit 18 determines the achievement level of the ski game based on conditions such as whether or not the skier can be operated along the course on the ski game. The achievement level determination unit 18 stores the determined achievement level in the storage unit 20.

  Although the details will be described later, the step interlocking rate calculation unit 19 calculates the step interlocking rate based on the achievement level determined by the achievement level determining unit 18. The step interlocking rate calculation unit 19 stores the calculated step interlocking rate in the storage unit 20.

  The storage unit 20 stores an achievement level, a step linkage rate, a table indicating the relationship between the achievement level and the step linkage rate, a ski game program, and the like.

  The control unit 21 executes a ski game program, and a video signal for moving the skier on a course on the ski game based on the position, speed, direction, and inclination of the inverted motorcycle 2 indicated by the signal input from the inverted motorcycle 2 Is generated.

  The video output unit 22 displays the video indicated by the signal input from the control unit 21 on the monitor 4.

  The monitor 4 is a display device such as a liquid crystal display, and is disposed in front of an area where balance training is performed using the inverted motorcycle 2 as shown in FIG.

  As shown in FIG. 1, the overturning prevention frame 5 suspends and supports an occupant who rides on the inverted motorcycle 2 via the hanger 23.

  Next, a flow until the control device 3 outputs a signal indicating the step interlocking rate to the inverted motorcycle 2 when starting the balance training will be described. FIG. 4 is a flowchart showing a flow until the control device outputs a signal indicating the step interlocking rate to the inverted motorcycle when starting the balance training.

  First, the step interlocking rate calculation unit 19 reads out a table indicating the achievement level and the relationship between the achievement level and the step interlocking rate from the storage unit 20 (S1).

  Next, the step interlocking rate calculation unit 19 calculates a step interlocking rate based on the read achievement level and table (S2). Then, the step interlocking rate calculation unit 19 stores the calculated step interlocking rate in the storage unit 20 (S3).

  Next, the step interlocking rate calculation unit 19 reads the step interlocking rate from the storage unit 20, and outputs a signal indicating the read step interlocking rate to the inverted motorcycle 2 via the communication unit 24 (S4).

  Next, the flow of control of the left and right actuators 11a and 11b in the adjustment mechanism 11 of the inverted two-wheeled vehicle 2 when executing balance training will be described. FIG. 5 is a flowchart showing a flow of control of the left and right actuators in the adjustment mechanism of the inverted two-wheeled vehicle when executing balance training.

  First, the control processing unit 14 acquires a signal indicating a step interlocking rate from the communication unit 24 of the control device 3 (S11).

  Next, in order to realize the step interlocking rate acquired by the left and right step plates 6a and 6b of the inverted two-wheeled vehicle 2 during balance training, the control processing unit 14 detects the step interlocking rate, the detection signal of the step angle detecting unit 13, and Based on the detection signals of the left and right angle detectors 25a and 25b that detect the rotation angles of the motors of the left and right actuators 11a and 11b, the length adjustment amounts of the left and right actuators 11a and 11b are calculated (S12). Then, the control processing unit 14 generates adjustment command signals for the left and right actuators 11a and 11b for realizing the calculated length adjustment amount.

  Next, the control processing unit 14 outputs adjustment command signals for the left and right actuators 11a and 11b to the left and right length adjustment drive circuits 26a and 26b. The left and right length adjustment drive circuits 26a and 26b calculate the drive current values of the motors of the left and right actuators 11a and 11b based on the adjustment command signal, and drive the motors with the calculated drive current values (S13).

  Here, FIG. 6 schematically shows the periphery of the parallel link mechanism in the case where the rotation angle of the handle and the rotation angle of the step plate are equal when the handle is rotated to the right side of the inverted motorcycle. The lengths of 11a and the second actuator 11b are controlled equally. FIG. 7 schematically shows the vicinity of the parallel link mechanism when the interlocking ratio of the rotation angle of the step plate with respect to the rotation angle of the handle is reduced when the handle is rotated to the right side of the inverted motorcycle. The second actuator 11b is controlled to contract by the amount that the first actuator 11a extends.

  As described above, in the present embodiment, by adjusting the lengths of the left and right actuators 11a and 11b, the interlocking ratio of the rotation angles of the left and right step plates 6a and 6b with respect to the rotation angle of the handle 10 is reduced. The turning operation of the inverted motorcycle 2 can be made dull. Therefore, the passenger tries to actively perform the turning operation of the inverted two-wheeled vehicle 2 by the load operation to the left and right step plates 6a and 6b, and the balance training effect can be improved.

  The control processing unit 14 increases the interlocking ratio between the handle 10 and the left and right step plates 6a and 6b when the achievement level of the passenger is low, and when the achievement level of the passenger is high, the control processing unit 14 What is necessary is just to make small the interlocking | linkage rate with plate 6a, 6b. Thereby, the difficulty of the left and right turning operation can be adjusted according to the achievement level of the passenger.

<Embodiment 2>
The balance training apparatus according to the present embodiment is configured to be substantially the same as the balance training apparatus according to the first embodiment, but is configured so that the setter can set the achievement level or the step linkage rate from the outside. In addition, the overlapping description is abbreviate | omitted and it demonstrates using the same code | symbol for an equal element.

  FIG. 8 is a block diagram of a control system of the balance training apparatus of the present embodiment. As shown in FIG. 8, the balance training apparatus of the present embodiment includes a remote controller 31. The remote controller 31 includes an input unit 32, a signal processing unit 33, and a communication unit 34.

  The input unit 32 is operated by the setter from the outside to set the achievement level or the step linkage rate, and outputs an operation signal to the signal processing unit 33. The signal processing unit 33 performs predetermined processing on the input operation signal to obtain a signal indicating the achievement level or the step interlocking rate, and sends a signal indicating the achievement level or the step interlocking rate to the control device 3 via the communication unit 34. Output.

  When a signal indicating the step linkage rate is input to the control device 3 via the communication unit 24, the communication unit 24 outputs the step linkage rate to the inverted motorcycle 2. Further, when a signal indicating the achievement level is input to the control device 3 via the communication unit 24, the communication unit 24 stores the achievement level in the storage unit 20.

  Next, a flow until the control device 3 outputs the signal indicating the step interlocking rate to the inverted motorcycle 2 when the achievement level is set using the remote controller 31 will be described. FIG. 9 is a flowchart showing a flow until the control device outputs a signal indicating the step interlocking rate to the inverted motorcycle when the achievement level is set using the remote controller.

  First, as shown in FIG. 9, the setter operates the remote controller (remote controller) 31 from the outside to set the achievement level (S21).

  Next, the step interlocking rate calculation unit 19 reads the table indicating the achievement level set via the remote controller 31 from the storage unit 20 and the relationship between the achievement level and the step interlocking rate. Based on this, a step interlocking rate is calculated (S22). Then, the step interlocking rate calculation unit 19 stores the calculated step interlocking rate in the storage unit 20 (S23).

  Next, the step interlocking rate calculation unit 19 reads the step interlocking rate from the storage unit 20, and outputs a signal indicating the read step interlocking rate to the inverted motorcycle 2 via the communication unit 24 (S24).

  As described above, the balance training apparatus according to the present embodiment can set the achievement level or the step linkage rate from the outside via the remote controller 31, and can flexibly execute the balance training according to the state of the passenger. it can.

<Embodiment 3>
In the balance training apparatus of the first and second embodiments, the left and right actuators 11a and 11b are used to change the interlocking ratio of the rotation angles of the left and right step plates 6a and 6b with respect to the rotation angle of the handle 10, but the upper rotation By moving the shaft 7e, the interlocking ratio of the rotation angles of the left and right step plates 6a, 6b with respect to the rotation angle of the handle 10 may be changed.

  FIG. 10 is a front view for explaining an adjustment mechanism in the inverted two-wheeled vehicle of the present embodiment. FIG. 11 is a plan view for explaining an adjustment mechanism in the inverted two-wheeled vehicle of the present embodiment. FIG. 12 is a plan view schematically showing the operation of the adjustment mechanism when the handle is rotated to the right side of the inverted motorcycle. FIG. 13 is a plan view schematically showing the operation of the adjustment mechanism when the handle is rotated to the left side of the inverted motorcycle.

  As shown in FIGS. 10 and 11, the inverted motorcycle according to the present embodiment includes an adjustment mechanism 41 on the upper lateral link 7 a. The adjustment mechanism 41 includes a rotating body 42 and an actuator 43.

  The rotating body 42 is provided with an upper rotating shaft 7e. With the parallel link mechanism 7 not rotating in the left-right direction of the inverted two-wheeled vehicle, the center axis L1 of the handle 10 and the center point of the rotating shaft 7e The line L2 connecting the rotating shaft of the rotating body 42 overlaps.

  The actuator 43 includes a speed reducer, a motor, and the like, and an output shaft 43 a of the speed reducer is connected to the rotating body 42. The actuator 43 is fixed to the upper lateral link 7a. The motor is controlled by the control processing unit 14.

  For example, when the passenger rotates the handle 10 to the right side of the inverted motorcycle, the adjusting mechanism 41 rotates the rotating body 42 around the rotating shaft so that the upper rotating shaft 7e is rotated as shown in FIG. Move to the right. Thereby, the space | interval of the rotating shaft 7e in the upper side link 7a and the rotating shaft 7g becomes short, and the space | interval of the rotating shaft 7e in the upper side link 7a and the rotating shaft 7f becomes long.

  On the other hand, for example, when the passenger rotates the handle 10 to the left side of the inverted two-wheeled vehicle, the adjusting mechanism 41 rotates the rotating body 42 around the rotating shaft and the upper rotating shaft 7e on the left side as shown in FIG. Move to. Thereby, the space | interval of the rotating shaft 7e in the upper side link 7a and the rotating shaft 7f becomes short, and the space | interval of the rotating shaft 7e in the upper side link 7a and the rotating shaft 7g becomes long.

  As a result, similar to the adjustment mechanisms of the first and second embodiments, the adjustment mechanism 41 of the present embodiment can also reduce the interlocking ratio of the rotation angles of the left and right step plates 6a and 6b with respect to the rotation angle of the handle 10. it can.

  In addition, by connecting the handle 10 to the parallel link mechanism 7 through a gear mechanism and making the gear ratio of the gear mechanism variable, the interlocking rate of the rotation angles of the left and right step plates 6a and 6b with respect to the rotation angle of the handle 10 May be changed.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  For example, as shown in FIG. 14, in the parallel link mechanism 7, the upper horizontal link 7a, the left vertical link 7c, and the right vertical link 7d are inverted while the positions of the lower rotation shafts 7f and 7g are fixed. The structure which rocks | fluctuates in the left-right direction of a two-wheeled vehicle may be sufficient.

DESCRIPTION OF SYMBOLS 1 Balance training apparatus 2 Inverted two-wheeled vehicle 6a, 6b Step plate 7 Parallel link mechanism, 7a, 7b Horizontal link, 7c, 7d Vertical link, 7e, 7f, 7g Rotating shaft 8a, 8b Wheel 9 Base 10 Handle 11 Adjustment mechanism, 11a First actuator, 11b Second actuator 12 Attitude detection unit 13 Step angle detection unit 14 Control processing unit, 14a Storage device, 14b Arithmetic circuit, 14c Vehicle information output unit, 14d Information acquisition unit 15a, 15b Wheel drive unit 16a, 16b Wheel angle detection unit 17 Communication unit 17a, 17b Wheel drive circuit 25a, 25b Angle detection unit 26a, 26b Adjustment drive circuit 3 Control device, 18 achievement level determination unit, 19 step interlocking rate calculation unit, 20 storage unit, 21 control unit , 22 Video output unit, 24 Communication unit 4 Monitor 5 Fall prevention frame, 3 hanger 31 remote controller, 32 input unit, 33 signal processing unit, 34 communication unit 41 adjusting mechanism, 42 the rotating body, 43 an actuator, 43a output shaft

Claims (1)

Left and right step plates on which a rider puts his / her feet, a parallel link mechanism that supports the left and right step plates so as to interlock with the left and right step plates, a base that supports the parallel link mechanism, and the parallel link mechanism An inverted two-wheeled vehicle that is connected to the upper and lower horizontal links, and that is operated by the occupant, and that turns based on the rotation angle of the step plate,
In order to reduce the interlocking ratio of the rotation angle of the step plate with respect to the rotation angle of the handle, the adjustment mechanism provided on the lateral link on the upper side of the parallel link mechanism,
The adjusting mechanism adjusts a distance between a connecting portion between one vertical link and the upper horizontal link in the parallel link mechanism and a connecting portion between the upper horizontal link and the handle in the parallel link mechanism. And a second connecting portion between the other vertical link and the upper horizontal link in the parallel link mechanism, and a second connecting portion between the upper horizontal link and the handle in the parallel link mechanism. An inverted motorcycle having an actuator.

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