JP2021175639A - Movable body - Google Patents

Abstract

To provide a movable body which enables movement in a lateral direction (a vehicle width direction) and tilting in a roll direction of a rear wheel relative to a front vehicle body to be performed properly with a simple structure.SOLUTION: A rear wheel support mechanism 20 of a movable body 1A having a front wheel 3f and a rear wheel 3r has: a vehicle body side mechanism 21 supported by a vehicle body; a wheel side mechanism 40 supporting the rear wheel 3r; a guide mechanism 30 which is configured to allow the wheel side mechanism 40 to be supported by the vehicle body side mechanism 21 so that the rear wheel 3r can tilt in a roll direction while moving in a lateral direction of the vehicle body 2 relative to the vehicle body 2; and an actuator 50 which generates a driving force for tilting the rear wheel 3r in the roll direction while moving the rear wheel 3r in the lateral direction of the vehicle body 2 relative to the vehicle body 2 between the vehicle body side mechanism 21 and the wheel side mechanism 40.SELECTED DRAWING: Figure 3

Description

The present invention relates to a moving body such as a two-wheeled vehicle.

Conventionally, in a moving body such as a two-wheeled vehicle having front and rear wheels on the front and rear of a vehicle body, for example, as seen in Patent Document 1, the rear frame that supports the rear wheels is rearward from the front frame that supports the front wheels to the rear side. A moving body having a structure in which the rear frame is connected to the front frame has been proposed so that the rear frame can rotate with respect to the front frame around a rotation axis extending diagonally in the downward direction.

This moving body has a wobbling reduction mode that reduces the wobbling of a two-wheeled vehicle at low speeds, and when the vehicle body tilts to the left or right, the rear frame tilts to the opposite side with respect to the front frame. By rotating the vehicle around the rotation axis, a moment is generated in the direction of suppressing the inclination of the vehicle body, and by extension, the wobbling of the vehicle body is reduced.

Japanese Unexamined Patent Publication No. 2006-182091

By the way, in order to effectively prevent the wobbling of a moving body such as a two-wheeled vehicle by tilting the rear wheels (in other words, in effectively generating a moment that suppresses the vehicle body from tilting to the left or right), the rear It is desirable that the wheels not only tilt with respect to the vehicle body on the front side, but also be able to move in the vehicle width direction (left-right direction when the moving body is viewed from the rear) with respect to the vehicle body on the front side.

However, in the moving body described in Patent Document 1, since the rear frame supporting the rear wheels is only connected to the front frame so as to be able to rotate around the rotation axis, the rear wheels are forward. It cannot move in the width direction with respect to the frame.

In addition, in the moving body described in Patent Document 1, since the rotation axis of the rear frame with respect to the front frame extends downward downward, the rear wheels are tilted rearward so as to be tilted to the right with respect to the front frame. When the frame is rotated with respect to the front frame, the rear wheels are steered to the left (counterclockwise when viewed from above). Further, when the rear frame is rotated with respect to the front frame so that the rear wheels are tilted to the left with respect to the front frame, the rear wheels are steered to the right (clockwise when viewed from above).

Therefore, in a moving body as seen in Patent Document 1, when the vehicle body is tilted to the left or right side, if the amount of tilt of the rear wheels to the opposite side is small, the effect of further suppressing the tilt of the vehicle body is unlikely to occur. (It is unlikely that a moment will be generated to suppress further tilting of the vehicle body). As a result, it tends to be difficult to suppress the inclination of the vehicle body with good responsiveness.

The present invention has been made in view of such a background, and a movement capable of appropriately moving the rear wheel in the left-right direction (vehicle width direction) and tilting in the roll direction with respect to the vehicle body on the front side with a simple configuration. The purpose is to provide the body.

The moving body of the present invention includes a vehicle body, front wheels and rear wheels arranged at intervals in the front-rear direction of the vehicle body, a front wheel support mechanism for supporting the front wheels on the vehicle body, and the rear wheels on the vehicle body. It is a moving body provided with a rear wheel support mechanism that supports it.
The rear wheel support mechanism
The vehicle body side mechanism supported by the vehicle body and
A wheel-side mechanism that supports the rear wheels and
It includes one or more guide rails and one or more slide members engaged with the guide rails so that they can move along the guide rails, as the slide members move along the guide rails. The rear wheels supported by the wheel-side mechanism move in the left-right direction of the vehicle body with respect to the vehicle body supporting the vehicle body-side mechanism, and tilt in the roll direction with respect to the vehicle body. A guide mechanism configured to support the wheel-side mechanism to the vehicle-body-side mechanism so as to obtain
One or more driving forces generated between the vehicle body side mechanism and the wheel side mechanism to cause the rear wheels to move the vehicle body in the left-right direction and tilt in the roll direction with respect to the vehicle body. (1st invention).

In the present invention, the "front-rear direction of the vehicle body" is orthogonal to the axles of the front wheels and the rear wheels when the moving body in the straight-ahead traveling posture is viewed from above (when the moving body is projected onto a horizontal plane). Alternatively, it means directions that are almost orthogonal to each other, and "left-right direction of the vehicle body" means that the front wheels and the rear wheels are viewed from above when the moving body in the straight running posture is viewed from above (when the moving body is projected onto a horizontal plane). It means the direction that is parallel to or almost parallel to the axle.

Here, the "moving body in the straight running posture" means a moving body having the same posture as the moving body in the straight running posture. More specifically, the "moving body in a straight running posture" is a state in which the axles of the front wheels and the rear wheels are parallel or substantially parallel to each other, and the front wheels and the rear wheels are upright or substantially perpendicular to the horizontal plane. Means a moving body of. Further, the "front-rear direction of the vehicle body" and the "left-right direction of the vehicle body" may spatially include a direction inclined with respect to the horizontal plane.

Further, the "vertical direction of the vehicle body" means a direction that coincides with or substantially coincides with the vertical direction in the moving body in the straight running posture. Further, the "roll direction" means a direction around an axis extending in the "front-rear direction of the vehicle body".

According to the first invention, the moving body has a vehicle body side mechanism supported by the vehicle body and a wheel side mechanism supporting the rear wheels, and the wheel side mechanism is a guide having the guide rail and the slide member. It is supported by the vehicle body side mechanism via the mechanism. Therefore, by operating the actuator, the rear wheels can be moved in the left-right direction of the vehicle body with respect to the vehicle body and tilted in the roll direction at the same time.

As a result, when the moving body is traveling at a low speed, the movement of the rear wheels with respect to the vehicle body (movement and roll in the left-right direction of the vehicle body) is caused by generating a moment in the roll direction so as to suppress the inclination of the vehicle body in the roll direction. It is possible to realize it appropriately by (combined operation with tilting in the direction). Therefore, according to the first invention, it is possible to appropriately move the rear wheels in the left-right direction (vehicle width direction) and tilt in the roll direction with respect to the vehicle body on the front side with a simple configuration.

In the first invention, when the rear wheel is moved toward the left side of the vehicle body, the wheel side mechanism together with the rear wheel is directed toward the left side of the vehicle body with respect to the vehicle body side mechanism. While moving, the rear wheels are tilted so as to increase the inclination of the rear wheels to the left side of the vehicle body, and when the rear wheels are moved toward the right side of the vehicle body, the wheel side mechanism works together with the rear wheels. It is preferable that the mechanism is configured to tilt toward the right side of the vehicle body while moving toward the right side of the vehicle body so that the inclination of the vehicle body to the right side increases (the second invention).

According to this, by operating the actuator, the combined operation of the left-right movement of the rear wheels with respect to the vehicle body and the tilting in the roll direction is performed as described above. Therefore, it is possible to apply a moment in the roll direction to the vehicle body so as to suppress the inclination of the vehicle body by the above-mentioned combined operation of the rear wheels with respect to the vehicle body with good responsiveness.

In the first invention or the second invention, in the guide mechanism, as the inclination of the rear wheels to the left side and the right side of the vehicle body increases, the central portion of the rear wheels with respect to the vehicle body side mechanism. It may be configured to be relatively displaced upward or downward in the vertical direction of the vehicle body (third invention).

In this case, as the inclination of the rear wheels to the left and right sides of the vehicle body increases, the central portion of the rear wheels faces upward in the vertical direction of the vehicle body relative to the vehicle body side mechanism. When the guide mechanism is configured so as to be displaced, the more the rear wheels are tilted with respect to the vehicle body, the more the vehicle body is lowered with respect to the ground contact surface of the rear wheels when the moving body is traveling at low speed. .. Therefore, the driver who is seated on the seat mounted on the vehicle body can easily land his / her foot.

Further, as the inclination of the rear wheels to the left side and the right side of the vehicle body increases, the central portion of the rear wheels moves downward in the vertical direction of the vehicle body relative to the vehicle body side mechanism. When the guide mechanism is configured to be displaced, the smaller the inclination of the rear wheels with respect to the vehicle body is, the lower the vehicle body is with respect to the ground contact surface of the rear wheels when the moving body is traveling at low speed. Therefore, the posture of the vehicle body can easily return to the posture of the vehicle body in the straight running posture.

More specifically, in the first to third inventions, the guide mechanism extends in the left-right direction of the vehicle body as the guide rail when the vehicle body of the moving body in a straight-ahead traveling posture is viewed from above. A rail that includes a first guide rail that exists, and as the slide member, includes a first slide member that is engaged with the first guide rail, and is one of the vehicle body side mechanism and the wheel side mechanism. It is preferable that the first guide rail is attached to the side mechanism, and the first slide member is attached to the slide side mechanism which is the other mechanism of the vehicle body side mechanism and the wheel side mechanism (fourth invention). ).

According to this, the first slide member moves along the first guide rail relative to the rail side mechanism, so that the rear wheels can be appropriately moved in the left-right direction with respect to the vehicle body. realizable.

Further, in the fourth invention, the first guide rail extends in an upwardly convex mountain shape when the vehicle body side mechanism and the wheel side mechanism of the moving body in the straight running posture are viewed from the rear. When the first slide member moves along the first guide rail relative to the rail side mechanism together with the slide side mechanism, the wheel side mechanism is formed together with the rear wheel. A mode in which the slide side mechanism is attached so as to move in the left-right direction of the vehicle body relative to the vehicle body side mechanism and tilt in the roll direction relative to the vehicle body side mechanism. It can be adopted (fifth invention).

According to this, as in the second invention, it is possible to appropriately realize a combined operation of moving the rear wheel in the left-right direction with respect to the vehicle body and tilting in the roll direction with a simple configuration, and also with the second invention. A similar effect can be achieved.

In the fifth invention, the shape of the first guide rail is such that the first slide member is tilted in the roll direction of the rear wheel from the engagement position of the first slide member with respect to the first guide rail in the moving body in a straight running posture. When moving along the first guide rail relative to the rail-side mechanism of the vehicle body so as to increase, the central portion of the rear wheel is relative to the vehicle body-side mechanism with the movement. It can be formed so as to be displaced upward or downward in the vertical direction of the vehicle body (sixth invention).

According to this, the same effect as that of the third invention can be obtained, and the configuration for that purpose can be easily realized.

Further, in the fourth invention, the guide rail is the center of the vehicle width of the moving body when the vehicle body side mechanism and the wheel side mechanism of the moving body in a straight running posture are viewed from the rear. It has a first L guide rail that extends downward to the left on the left side of the surface and a first R guide rail that extends downward to the right on the right side of the vehicle width center surface of the moving body.
The first slide member has a first L slide member and a first R slide member that are engaged with the first L guide rail and the first R slide member, respectively.
The first L slide member and the first R slide member are attached to the slide side mechanism so that the distance between the first L slide member and the first R slide member is kept constant, and the first R slide member is attached to the slide side mechanism. When each of the 1L slide member and the first R slide member moves along the first L guide rail and the first R guide rail relative to the rail side mechanism, the wheel side mechanism moves after the rear. It is said that the wheels are attached to the slide side mechanism so as to move in the left-right direction of the vehicle body relative to the vehicle body side mechanism and tilt in the roll direction relative to the vehicle body side mechanism. Aspects can also be adopted (7th invention).

The "vehicle width center surface" means a plane that passes through the centers of the front wheels and the rear wheels of the moving body in the straight running posture and is orthogonal to the axles of the front wheels and the rear wheels. Further, the 1st L guide rail and the 1st R guide rail may be connected to each other.

According to the seventh invention, as in the second invention, it is possible to appropriately realize a combined operation of moving the rear wheels in the left-right direction and tilting in the roll direction with respect to the vehicle body with a simple configuration, and at the same time, the above-mentioned seventh invention. 2 The same effect as that of the present invention can be obtained.

In the seventh invention, the shapes of the first L guide rail and the first R guide rail are such that the first L slide member and the first R slide member each have the first L in a moving body in a straight running posture. When moving along the first guide rail from the engagement position with respect to each of the guide rail and the first R guide rail so as to move toward each of both ends of the first guide rail relative to the rail side mechanism. With the movement, the central portion of the rear wheel may be formed so as to be displaced upward or downward in the vertical direction of the vehicle body relative to the vehicle body side mechanism (8th invention).

According to this, the same effect as that of the third invention can be obtained, and the configuration for that purpose can be easily realized.

Further, in the fourth invention, the first guide rail is a guide rail extending linearly in the left-right direction of the vehicle body when the vehicle body of the moving body in a straight-ahead traveling posture is viewed from above. The slide-side mechanism is attached to the first slide member so as to be able to rotate in the roll direction relative to the rail-side mechanism, and the slide-side mechanism is relative to the rail-side mechanism. A translational driving force for moving along the first guide rail and a rotational driving force for rotating the slide-side mechanism in the roll direction relative to the rail-side mechanism are applied in parallel from the actuator. As described above, it is also possible to adopt an embodiment in which the actuator is connected to the output shaft via a link mechanism (9th invention).

According to this, it is possible to realize a combined operation of moving the rear wheel in the left-right direction and tilting in the roll direction with respect to the vehicle body with a simple configuration.

The figure which shows the schematic structure of the whole moving body of 1st Embodiment in the side view. The figure which shows the rear wheel support mechanism of the moving body of 1st Embodiment in the side view. FIG. 3A is a rear view of the rear wheel support mechanism of the moving body of the first embodiment as viewed in the direction of arrow Y3 in FIG. 2, and FIG. 3B is an operation explanatory view of the rear wheel support mechanism. The rear view which saw the rear wheel support mechanism of the moving body of 2nd Embodiment in the same direction as the direction of the arrow Y3 of FIG. The rear view which saw the rear wheel support mechanism of the moving body of 3rd Embodiment in the same direction as the direction of the arrow Y3 of FIG. FIG. 6A is an explanatory view regarding the operation of the rear wheel support mechanism of the moving body of the third embodiment, and FIG. 6B shows the relationship between the inclination angle of the rear wheel in the roll direction of the rear wheel support mechanism and the height of the seat of the moving body. Graph to show. The rear view which saw the rear wheel support mechanism of the moving body of 4th Embodiment in the same direction as the direction of arrow Y3 of FIG. FIG. 8A is an explanatory view regarding the operation of the rear wheel support mechanism of the moving body of the fourth embodiment, and FIG. 8B shows the relationship between the inclination angle of the rear wheel in the roll direction of the rear wheel support mechanism and the height of the seat of the moving body. Graph to show. The figure which shows the rear wheel support mechanism of the moving body of 5th Embodiment in the side view. The rear view which saw the rear wheel support mechanism of the moving body of 5th Embodiment in the same direction as the direction of arrow Y3 of FIG. The figure which shows the rear wheel support mechanism of the moving body of 6th Embodiment in the side view. The rear view which saw the rear wheel support mechanism of the moving body of 6th Embodiment in the same direction as the direction of arrow Y3 of FIG. The figure which shows the rear wheel support mechanism of the moving body of 7th Embodiment in the side view. The rear view which looked at the rear wheel support mechanism of the moving body of 7th Embodiment in the same direction as the direction of arrow Y3 of FIG. The figure which shows the rear wheel support mechanism of the moving body of 8th Embodiment in the side view. 16A is a rear view of the rear wheel support mechanism of the moving body of the eighth embodiment as viewed in the same direction as the direction of arrow Y3 in FIG. 2, and FIG. 16B is an operation explanatory view of the rear wheel support mechanism. The figure which shows the schematic structure of the whole of the moving body of 9th Embodiment from the side view. The figure which shows the schematic structure of the whole of the moving body of 10th Embodiment from the side view.

[First Embodiment]
The first embodiment of the present invention will be described below with reference to FIGS. 1 to 3B. With reference to FIG. 1, the moving body 1A of the present embodiment is a saddle-mounted two-wheeled vehicle, and the vehicle body 2 having a frame structure and the front wheels 3f of each of the vehicle bodies 2 arranged at intervals in the front-rear direction. And a rear wheel 3r.

Here, in the following description, the "front-rear direction" (or "vehicle length direction") and the "left-right direction" (or "vehicle width direction") of the vehicle body 2 are the straight-ahead traveling postures (the postures during straight-ahead traveling), respectively. When the moving body 1A in the same posture as) is viewed from above (when the moving body 1A is projected onto a horizontal plane), the direction orthogonal to or substantially orthogonal to the axles of the front wheels 3f and the rear wheels 3r and the front wheels 3f And the direction parallel to or substantially parallel to the axle of the rear wheel 3r.

In this case, the "front-rear direction" (or "vehicle length direction") and the "left-right direction" (or "vehicle width direction") of the vehicle body 2 are not limited to the directions parallel to the horizontal plane, but the horizontal plane. It may be in a direction inclined with respect to. More specifically, the straight running posture of the moving body 1A is such that the axles of the front wheels 3f and the rear wheels 3r are parallel or substantially parallel to each other, and the front wheels 3f and the rear wheels 3r are perpendicular or substantially perpendicular to the horizontal plane. This is the posture of the moving body 1A while standing upright.

Further, the "vertical direction" of the vehicle body 2 means a direction that coincides with or substantially coincides with the vertical direction in the moving body 1A in the straight running posture. The meanings of the "front-rear direction" (or vehicle length direction), "left-right direction" (or vehicle width direction), and "vertical direction" of the vehicle body 2 are the same in other embodiments described later.

The vehicle body 2 has a head pipe 2a at its front end, and has an upper body frame 2b extending rearward from the head pipe 2a and a lower side of the upper body frame 2b, downward from the head pipe 2a. It has a lower body frame 2c extending rearward in a convex shape, and a seat 4 on which the driver sits is mounted on the upper body frame 2b. The rear end of the lower body frame 2c is fixed to the upper body frame 2b.

The front wheel 3f is supported by the front portion of the vehicle body 2 via the front wheel support mechanism 10. As the front wheel support mechanism 10, for example, one having the same structure as the front wheel support mechanism of a normal motorcycle can be adopted. The front wheel support mechanism 10 of the illustrated example has, for example, a front fork 11 including a damper (not shown), and the front wheel 3f is pivotally supported at the lower end of the front fork 11 via the front wheel side axle unit 12.

The front fork 11 is assembled to the vehicle body 2 so that it can rotate together with the front wheels 3f around the axis of the head pipe 2a of the vehicle body 2. Then, when the driver operates the handle 13 assembled on the upper side of the head pipe 2a, the handle 13 is attached to the front fork 11 so that the front fork 11 rotates around the axis of the head pipe 2a together with the front wheels 3f. It is connected. As a result, the front wheels 3f can be steered by operating the steering wheel 13.

The rear wheels 3r are supported by the rear portion of the vehicle body 2 via the rear wheel support mechanism 20. The rear wheel support mechanism 20 is configured so that the rear wheels 3r can swing in the pitch direction (the direction around the axis in the left-right direction (vehicle width direction) of the vehicle body 2) with respect to the vehicle body 2, and the rear wheels 3r are rear. While tilting the wheel 3r in the roll direction with respect to the vehicle body 2 (direction around the axis in the front-rear direction (vehicle length direction) of the vehicle body 2), the wheel 3r is moved in the vehicle width direction (left-right direction of the vehicle body 2) with respect to the vehicle body 2. It is configured to get.

The configuration of the rear wheel support mechanism 20 will be specifically described below with reference to FIGS. 2 and 3A. Here, FIG. 3A is a view of the rear wheel support mechanism 20 viewed in the direction of the arrow Y3 shown in FIG. In this case, the direction of the arrow Y3 is a direction parallel to the central axis C1 described later.

The rear wheel support mechanism 20 rolls while moving in the vehicle width direction with respect to the vehicle body side mechanism 21 supported by the vehicle body 2 so as to be able to swing in the pitch direction with respect to the vehicle body 2. The vehicle body side mechanism 21 is provided with a wheel side mechanism 40 supported via a guide mechanism 30 so as to be able to tilt in the direction, and the rear wheel 3r is supported by the wheel side mechanism 40.

The vehicle body side mechanism 21 has a roughly plate-shaped base plate 22, and the base plate 22 is arranged at a position closer to the rear portion of the vehicle body 2 with its thickness direction facing the front-rear direction of the vehicle body 2. Then, the shaft support portion 22a projecting from the front surface of the base plate 22 is pivotally supported by the lower vehicle body frame 2c of the vehicle body 2 so as to be able to swing in the pitch direction with respect to the vehicle body 2. As a result, the base plate 22 is supported by the vehicle body 2 so as to be able to swing in the pitch direction with respect to the vehicle body 2.

Then, as shown in FIG. 1, the upper upper portion of the shaft support portion 22a of the base plate 22 and the front portion of the vehicle body 2 (for example, the front portion of the upper vehicle body frame 2b) cause the base plate 22 to swing with respect to the vehicle body 2. It is connected via a damper 24 that brakes.

The guide mechanism 30 moves along the guide rail 31 fixed to the base plate 22 and the guide rail 31 in order to guide the movement of the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 in the vehicle width direction and the tilt in the roll direction. Two guide blocks 32, 32 engaged with the guide rail 31 so as to be able to (slide) are provided, and the guide blocks 32, 32 are provided with a substantially plate-shaped movable plate 41 as a component of the wheel side mechanism 40. It is fixed.

The guide rail 31 is fixed to the upper part of the rear surface of the base plate 22, and is formed in an upwardly convex mountain shape as shown in FIG. 3A. More specifically, the guide rail 31 is formed in an arc shape having a constant radius of curvature, for example. In this case, in the straight running posture of the moving body 1A, the central axis C1 of the radius of curvature of the guide rail 31 passes under the ground contact surface (horizontal plane) of the rear wheels 3r as shown in FIG. In addition to becoming a front-down axis, the vehicle width center surface of the moving body 1A in a straight-ahead traveling posture (passing through the centers of the front wheels 3f and the rear wheels 3r and orthogonal to the respective axles of the front wheels 3f and the rear wheels 3r). It is arranged on the rear surface of the base plate 22 so as to be located on the plane). The guide rail 31 is not limited to the one laid on the rear surface of the base plate 22, and may be a rod-shaped one arranged at a distance from the rear surface.

The movable plate 41 of the wheel-side mechanism 40 is arranged so as to face the rear surface of the base plate 22 at a distance from the rear surface. Then, the guide blocks 32, 32 engaged with the guide rail 31 are fixed to the upper part of the front surface (the surface on the base plate 22 side) of the movable plate 41. Therefore, the movable plate 41 is tilted in the roll direction around the central axis C1 with respect to the base plate 22 (and thus to the vehicle body 2) by sliding the guide blocks 32 and 32 along the guide rail 31. However, it can move in the width direction of the vehicle. Hereinafter, the central axis C1 will be referred to as a tilting central axis C1.

The engagement structure between the guide rail 31 and each guide block 32 may adopt various modes. The engaging structure includes, for example, an uneven fitting structure, a structure in which each guide block 32 is slidably externally attached to a rod-shaped guide rail 31, and each guide block 32 is connected to the guide rail 31 via a ball or a roller. A structure or the like for engaging with each other can be adopted.

The guide mechanism 30 further includes a link mechanism 35 for connecting the lower portion of the movable plate 41 to the base plate 22 as a mechanism for limiting (suppressing) the swing of the movable plate 41 in the pitch direction with respect to the base plate 22.

The link mechanism 35 includes, for example, two links 35a and 35b, and is a movable plate so that one end of the link 35a can rotate about a rotation axis in the same direction as the tilt center axis C1 with respect to the movable plate 41. It is pivotally supported by 41, and one end of the link 35b is pivotally supported by the base plate 22 so that it can rotate about the rotation axis in the same direction as the tilt center axis C1 with respect to the base plate 22. The other ends of the links 35a and 35b are connected to each other so that they can rotate relative to each other around the rotation axis in the same direction as the tilt center axis C1.

As a result, when the movable plate 41 moves along the guide rail 31 together with the guide blocks 32 and 32, the movable plate 41 is restricted (suppressed) from swinging in the pitch direction with respect to the base plate 22. In this case, in order to allow the guide blocks 32 and 32 to smoothly slide along the guide rail 31, the link mechanism 35 allows the movable plate 41 to slightly swing in the pitch direction with respect to the base plate 22. Can be configured. For example, the link mechanism 35 may be configured to have some backlash.

The engagement structure between each guide block 32 and the guide rail 31 enables smooth sliding of each guide block 32 with respect to the guide rail 31, and sufficiently suppresses the swing of the movable plate 41 with respect to the base plate 22 in the pitch direction. The link mechanism 35 may be omitted if it is configured to be capable. For example, each guide block 32 may be engaged with the guide rail 31 via three rollers that are brought into contact with the rod-shaped guide rail 31 so as to be sandwiched from three directions around the cross section thereof.

Further, the number of guide blocks 32 to be engaged with the guide rail 31 is not limited to two, and may be one or three or more. Further, the guide rail 31 may have a portion on the left side and a portion on the right side of the vehicle width center surface separated.

Supplementally, in the guide mechanism 30 of the present embodiment, the guide rail 31 corresponds to the first guide rail in the present invention, and the guide blocks 32 and 32 correspond to the first slide member in the present invention. Alternatively, of the guide rail 31, the portion on the left side and the portion on the right side of the vehicle width center surface correspond to the first L guide rail and the first R guide rail in the present invention, respectively, and are on the left side of the guide blocks 32 and 32, respectively. The guide block 32 and the guide block 32 on the right side can be regarded as corresponding to the first L slide member and the first R slide member in the present invention, respectively.

In addition to the movable plate 41, the wheel-side mechanism 40 further includes a support arm 42 extending rearward from the rear surface (the surface opposite to the base plate 22) of the movable plate 41, and the support arm 42 is provided. The rear wheels 3r are pivotally supported at the rear end portion via the rear wheel side axle unit 43. The wheel-side mechanism 40 shown in FIG. 3A is provided with support arms 42 only on one side of the rear wheels 3r, but support arms may be provided on both sides of the rear wheels 3r.

The rear wheel support mechanism 20 further includes an actuator 50 (shown in FIG. 3A) that generates a driving force for moving the wheel side mechanism 40 along the guide rail 31 with respect to the vehicle body side mechanism 21. Note that the actuator 50 is not shown in FIGS. 1 and 2.

The actuator 50 is composed of, for example, an electric motor with a speed reducer, and its housing is fixed to one of the base plate 22 and the movable plate 41, for example, the side portion of the base plate 22. In this case, the output shaft (rotation drive shaft) of the actuator 50 is oriented in the same direction as the tilt center axis C1. Then, the output shaft of the actuator 50 is connected to the movable plate 41 via a link mechanism 51 as an example of the power transmission mechanism.

The link mechanism 51 has two links 51a and 51b, one end of the link 51a is fixed to the output shaft so as to rotate integrally with the output shaft of the actuator 50, and one end of the link 51b is a movable plate 41. It is pivotally supported on the side portion of the movable plate 41 so that it can rotate around a rotation axis in the same direction as the tilt center axis C1. The other ends of the links 51a and 51b are connected to each other so that they can rotate relative to each other around the rotation axis in the same direction as the tilt center axis C1.

As a result, by rotationally driving the output shaft of the actuator 50, the wheel-side mechanism 40 is driven so as to move along the guide rail 31. As a result, the rear wheels 3r tilt in the roll direction while moving in the vehicle width direction (left-right direction of the vehicle body 2) with respect to the vehicle body 2. The actuator 50 is not limited to the electric motor, and may be, for example, a hydraulic actuator. It is also possible to use a linear actuator instead of the rotary actuator 50.

As described above, the rear wheel support mechanism 20 of the present embodiment includes a vehicle body side mechanism 21, a damper 24, a guide mechanism 30, a wheel side mechanism 40, and an actuator 50. In this case, the rear wheels 3r can swing in the pitch direction with respect to the vehicle body 2 due to the swing of the vehicle body side mechanism 21 with respect to the vehicle body 2 in the pitch direction.

Further, by operating the actuator 50, the wheel side mechanism 40 moves with respect to the vehicle body 2 along the guide rail 31 of the guide mechanism 30. In this case, since the guide rail 31 is formed in an arc shape as described above, the wheel side mechanism 40 is tilted around the tilt center axis C1 with respect to the vehicle body 2 along the guide rail 31. And move. As a result, as illustrated in FIG. 3B, the rear wheels 3r tilt in the roll direction while moving in the vehicle width direction (left-right direction) with respect to the vehicle body 2.

Further, although not shown, the moving body 1A is also equipped with a traveling actuator as a power source for traveling. The traveling actuator may be composed of, for example, an electric motor mounted on the front wheel side axle unit 12 or the rear wheel side axle unit 43 so as to rotationally drive the front wheels 3f or the rear wheels 3r. Alternatively, for example, an electric motor, a hydraulic motor, an internal combustion engine, or the like is mounted on the vehicle body 2 as a traveling actuator, and a rotational driving force is transmitted from the traveling actuator to the front wheels 3f or the rear wheels 3r via an appropriate power transmission mechanism. It may be possible.

In the moving body 1A of the present embodiment described above, when the moving body 1A is stopped or running at a low speed (the driver moves the moving body 1A while standing on the side of the vehicle body 2 while holding the handle 13). The operation control of the actuator 50 is performed by a control device (not shown) so as to suppress the inclination of the vehicle body 2 in the roll direction (including the case of causing or stopping the movement). The operation control of the actuator 50 is performed according to the inclination angle of the vehicle body 2 in the roll direction detected by, for example, an inertial sensor (not shown) mounted on the vehicle body 2.

For example, when the vehicle body 2 is tilted to the left from an upright posture (a posture in which the vertical direction of the vehicle body 2 coincides with or almost coincides with the vertical direction) (when the vehicle body 2 tilts counterclockwise when viewed from the rear of the moving body 1A). ), The actuator 50 is controlled so that the rear wheels 3r are tilted to the right with respect to the vehicle body 2. At this time, the rear wheel 3r moves to the right side with respect to the vehicle body 2 and tilts to the right side, so that the moment in the direction of returning the vehicle body 2 to the standing posture (the moment in the clockwise direction when viewed from the rear of the moving body 1A) is generated. It occurs with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the left.

When the vehicle body 2 is tilted to the right from the standing posture (when the vehicle body 2 is tilted clockwise when viewed from the rear of the moving body 1A), the actuator 50 causes the rear wheels 3r to be on the left side with respect to the vehicle body 2. It is controlled to tilt to. At this time, the rear wheel 3r moves to the left side with respect to the vehicle body 2 and tilts to the left side to return the vehicle body 2 to the standing posture (moment in the counterclockwise direction when viewed from the rear of the moving body 1A). Occurs with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the right.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIG. 4, the rear wheel support mechanism 20B of the moving body 1B of the present embodiment has a drive system configuration for moving the movable plate 41 of the wheel side mechanism 40 with respect to the vehicle body side mechanism 21. It is different from the rear wheel support mechanism 20.

Specifically, in the rear wheel support mechanism 20B of the present embodiment, as an actuator that generates a driving force for moving the movable plate 41 with respect to the vehicle body side mechanism 21 along the guide rail 31, for example, an electric motor with a speed reducer. The actuator 55 is provided, and the housing of the actuator 55 is fixed to the upper end portion of the base plate 22. In this case, the output shaft (rotation drive shaft) of the actuator 55 is directed in the same direction as the tilt center axis C1. A pinion 56 is attached to the output shaft of the actuator 55 so that the actuator 55 can rotate integrally with the output shaft.

Further, a rack 57 extending in an arc shape coaxial with the guide rail 31 is formed at the upper end of the movable plate 41, and the pinion 56 is meshed with the rack 57. Therefore, in the present embodiment, by operating the actuator 55, the driving force for moving the wheel side mechanism 40 along the guide rail 31 is transmitted from the actuator 55 via the power transmission mechanism composed of the pinion 56 and the rack 57. It is transmitted to the movable plate 41. It is also possible to fix the housing of the actuator 55 to the movable plate 41 of the wheel side mechanism 40 so that the rack 57 is provided on the base plate 22 of the vehicle body side mechanism 21.

The configuration of the mobile body 1B of the present embodiment is the same as that of the mobile body 1A of the first embodiment except for the matters described above. In the moving body 1B of the present embodiment, when the moving body 1B is stopped or traveling at a low speed, the operation control of the actuator 55 is controlled so as to move the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 as in the first embodiment. By doing so, the same effect as that of the first embodiment can be obtained.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIGS. 5 to 6B. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIG. 5, the rear wheel support mechanism 20C of the moving body 1C of the present embodiment includes a guide mechanism 30C having a configuration different from that of the guide mechanism 30 of the first embodiment. The guide mechanism 30C is a pair of left and right guide rails 31CL and 32CR fixed to the base plate 22 of the vehicle body side mechanism 21 and the guide rails 31CL and 31CR instead of the guide rail 31 and the guide block 32 of the first embodiment. Guide blocks 32CL and 32CR are provided, respectively, which are engaged with the guide rails 31CL and 31CR so that they can slide along the guide rails 31CL and 31CR.

The guide rail 31CL inclines linearly downward to the left at the upper left side of the rear surface of the base plate 22 in the moving body 1C in the straight running posture, and the guide rail 31CR in the moving body 1C in the straight running posture. At the upper right side of the rear surface of the base plate 22, the base plate 22 is arranged so as to be inclined linearly downward to the right.

Then, the guide block 32CL engaged with the guide rail 31CL and the guide block 32CR engaged with the guide rail 31CR are respectively around the rotation axis in the front-rear direction of the vehicle body 2 (specifically, in the first embodiment). It is pivotally supported on the upper part of the movable plate 41 so that it can rotate with respect to the movable plate 41 (around the rotation axis in the same direction as the tilt center axis C1). Therefore, the guide blocks 32CL and 32CR are attached to the movable plate 41 so that the distance between them is kept constant.

The upper ends of the guide rails 31CL and 31CR may be connected to each other. Supplementally, in the guide mechanism 30C of the present embodiment, the guide rails 31CL and 31CR correspond to the first L guide rail and the first R guide rail in the present invention, respectively, and the guide blocks 32CL and 32CR correspond to the first L slide in the present invention, respectively. Corresponds to the member and the first R slide member.

The configuration of the mobile body 1C of the present embodiment is the same as that of the mobile body 1A of the first embodiment except for the matters described above. In such a moving body 1C, the operation control of the actuator 50 is performed so as to move the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 as in the first embodiment when the moving body 1C is stopped moving or travels at a low speed. As a result, the rear wheels 3r, together with the wheel-side mechanism 40, tilt in the roll direction while moving in the vehicle width direction (left-right direction) with respect to the vehicle body 2. Thereby, the same effect as that of the first embodiment can be obtained.

Further, in this case, since the guide rails 31CL and 31CR of the guide mechanism 30 are arranged as described above, the movable plate 41 of the wheel side mechanism 40 and the rear wheels 3r are in the vehicle width direction (left and right) with respect to the vehicle body 2. When tilting in the roll direction while moving in the direction), the central portion of the rear wheels 3r becomes larger as the absolute value of the tilt angle of the rear wheels 3r in the roll direction (tilt angle with respect to the vertical direction of the vehicle body 2) increases. It moves upward relative to the base plate 22 (and thus to the vehicle body 2).

Specifically, in FIG. 6A, the solid lines L1 and L2 are lines indicating the extending directions of the guide rails 31CL and 31CR, respectively, and the point P1 is a point indicating the engagement position of the guide block 32CL with respect to the guide rail 31CL. Point P2 is a point indicating the engagement position of the guide block 32CR with respect to the guide rail 31CR, and point P3 is a point indicating the position of the central portion of the rear wheel 3r when the base plate 22 is viewed from the back side.

Further, in FIG. 6A, the solid triangle is the triangle connecting the points P1, P2, and P3 in the state where the movable plate 41 and the rear wheel 3r are not tilted in the roll direction with respect to the vehicle body 2 (non-tilted state), and the broken line. The triangle is a triangle connecting the points P1, P2, and P3 when the movable plate 41 and the rear wheel 3r are tilted to the right side of the vehicle body 2 by a certain angle (first tilted state) from the non-tilted state. The triangle indicates a triangle connecting the points P1, P2, and P3 in a state where the movable plate 41 and the rear wheel 3r are tilted to the right side of the vehicle body 2 (second tilted state) with respect to the first tilted state. Further, the alternate long and short dash lines Ca, Cb, and Cc form the center lines of the rear wheels 3r in the non-tilted state, the first inclined state, and the second inclined state (center lines in the direction orthogonal to the axle of the rear wheels 3r), respectively. Shown.

As shown in FIG. 6A, the center point P3 of the rear wheels 3r is displaced upward relative to the base plate 22 (and thus to the vehicle body 2) as the inclination of the rear wheels 3r with respect to the vehicle body 2 increases.
Therefore, as shown in the graph of FIG. 6B, the height of the seat 4 (the height from the road surface where the rear wheels 3r touch the ground) has a large absolute value of the roll angle as the inclination angle of the rear wheels 3r with respect to the vehicle body 2 in the roll direction. As it becomes, it becomes lower. Therefore, when the driver is seated on the seat 4, as the absolute value of the roll angle of the rear wheels 3r with respect to the vehicle body 2 increases, it becomes easier for the driver's left foot or right foot to land on the road surface.

In the present embodiment, the same drive system as in the second embodiment may be adopted as the drive system for moving the wheel side mechanism 40 with respect to the vehicle body side mechanism 21.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described with reference to FIGS. 7 to 8B. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIG. 7, the rear wheel support mechanism 20D of the moving body 1D of the present embodiment includes a guide mechanism 30D having a configuration different from that of the guide mechanism 30 of the first embodiment. Instead of the guide rail 31 and the guide block 32 of the first embodiment, the guide mechanism 30D can slide along the guide rail 31D fixed to the base plate 22 of the vehicle body side mechanism 21 and the guide rail 31D. A pair of left and right guide blocks 32DL and 32DR respectively engaged with the guide rail 31D are provided.

The guide rail 31D is curved in a mountain shape so as to be convex upward, and is fixed to the upper part of the rear surface of the base plate 22. As the radius of curvature of the guide rail 31D approaches each of the left and right ends from the central portion between the left and right ends (the portion located on the vehicle width center surface in the moving body 1D in the straight running posture). It is formed to be small.

The left guide block 32DL is engaged with the guide rail 31D on the left side of the vehicle width center surface, and the right type guide block 32DR is engaged with the guide rail 31D on the right side of the vehicle width center surface. Further, the guide blocks 32DL and 32DR are respectively located around the rotation axis in the front-rear direction of the vehicle body 2 (specifically, around the rotation axis in the same direction as the tilt center axis C1 in the first embodiment) with respect to the movable plate 41. It is pivotally supported on the upper part of the movable plate 41 so that it can rotate. Therefore, the guide blocks 32DL and 32DR are attached to the movable plate 41 so that the distance between them is kept constant.

In the guide rail 31D, the left side portion and the right side portion of the vehicle width center surface may be separated. Supplementally, in the guide mechanism 30D of the present embodiment, the guide rails 31DL and 31DR correspond to the first L guide rail and the first R guide rail in the present invention, respectively, and the guide blocks 32DL and 32DR correspond to the first L slide in the present invention, respectively. Corresponds to the member and the first R slide member.

The configuration of the mobile body 1D of the present embodiment is the same as that of the mobile body 1A of the first embodiment except for the matters described above. In such a moving body 1D, the operation control of the actuator 50 is performed so as to move the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 as in the first embodiment when the moving body 1D is stopped moving or travels at a low speed. As a result, the rear wheels 3r, together with the wheel-side mechanism 40, tilt in the roll direction while moving in the vehicle width direction (left-right direction) with respect to the vehicle body 2. Thereby, the same effect as that of the first embodiment can be obtained.

Further, in this case, since the guide rail 31D is curved as described above, the movable plate 41 of the wheel side mechanism 40 and the rear wheels 3r move in the width direction (left-right direction) with respect to the vehicle body 2. However, when tilting in the roll direction, the central portion of the rear wheels 3r becomes larger with respect to the base plate 22 as the absolute value of the tilt angle of the rear wheels 3r in the roll direction (tilt angle with respect to the vertical direction of the vehicle body 2) increases. As a result, it moves relatively downward (with respect to the vehicle body 2).

Specifically, in FIG. 8A, the solid curve L3 is a line indicating the extending direction of the guide rail 31D, and points P1 and P2 are points indicating the engagement positions of the guide blocks 32DL and 32DR with respect to the guide rail 31D. The point P3 is a point indicating the position of the central portion of the rear wheel 3r when the base plate 22 is viewed from the back side.

Further, in FIG. 8A, the solid triangle is the triangle connecting the points P1, P2, and P3 in the state where the movable plate 41 and the rear wheel 3r are not tilted in the roll direction with respect to the vehicle body 2 (non-tilted state), and the broken line. The triangle is a triangle connecting the points P1, P2, and P3 when the movable plate 41 and the rear wheel 3r are tilted to the right side of the vehicle body 2 by a certain angle from the non-tilted state (the third tilted state). The triangle indicates a triangle connecting the points P1, P2, and P3 in a state where the movable plate 41 and the rear wheel 3r are tilted to the right side of the vehicle body 2 (fourth tilted state) with respect to the third tilted state. Further, the alternate long and short dash lines Ca, Cb, and Cc form the center line of the rear wheels 3r in the non-tilted state, the third inclined state, and the fourth inclined state (the center line in the direction orthogonal to the axle of the rear wheels 3r), respectively. Shown.

As shown in FIG. 8A, the center point P3 of the rear wheels 3r is displaced downward relative to the base plate 22 (and thus to the vehicle body 2) as the inclination of the rear wheels 3r with respect to the vehicle body 2 increases.

Therefore, as shown in the graph of FIG. 6B, the height of the seat 4 (the height from the road surface where the rear wheels 3r touch the ground) has a large absolute value of the roll angle as the inclination angle of the rear wheels 3r with respect to the vehicle body 2 in the roll direction. As it becomes, it becomes higher. Therefore, when the driver is seated on the seat 4, the postures (tilts) of the rear wheels 3r and the vehicle body 2 in the roll direction tend to converge to the postures of the moving body 1D in the straight running posture.

In the present embodiment, the same drive system as in the second embodiment may be adopted as the drive system for moving the wheel side mechanism 40 with respect to the vehicle body side mechanism 21.

[Fifth Embodiment]
Next, a fifth embodiment of the present invention will be described with reference to FIGS. 9 and 10. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIGS. 9 and 10, the rear wheel support mechanism 20E of the moving body 1E of the present embodiment is a mechanism for limiting (suppressing) the swing of the movable plate 41 in the pitch direction with respect to the base plate 22 (hereinafter, pitch). As a swing limiting mechanism), a guide mechanism 30E including a pitch swing limiting mechanism 60 different from the link mechanism 35 in the first embodiment is provided.

The pitch swing limiting mechanism 60 has a pair of rollers 61, 61, and one roller 61 is arranged between the lower part of the base plate 22 and the lower part of the movable plate 41, and is placed on the rear surface of the base plate 22. It is rotatably supported by a fixed bearing member 62a.

Further, the other roller 61 is arranged behind the movable plate 41 so as to sandwich the movable plate 41 with the one roller 61, and extends from the base plate 22 to the rear of the movable plate 41. It is rotatably supported by a bearing member 62b fixed to the bracket 63.

The rollers 61 and 61 are in contact with the front surface and the rear surface of the movable plate 41 so as to rotate as the movable plate 41 moves along the guide rail 31 with respect to the base plate 22. .. As a result, the movable plate 41 can move along the guide rail 31 while the swing in the pitch direction with respect to the base plate 22 is restricted (suppressed).

The configuration of the mobile body 1E of the present embodiment is the same as that of the mobile body 1A of the first embodiment except for the matters described above. In such a moving body 1E, when the moving body 1E is stopped or traveling at a low speed, the operation control of the actuator 50 is performed so as to move the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 as in the first embodiment. As a result, the rear wheels 3r, together with the wheel-side mechanism 40, tilt in the roll direction while moving in the vehicle width direction (left-right direction) with respect to the vehicle body 2. Thereby, the same effect as that of the first embodiment can be obtained.

In the present embodiment, instead of the guide rail 31 and the guide blocks 32, 32, the guide rails 31CL, 31CR and the guide blocks 32CL, 32CR provided in the moving body 1C of the third embodiment, or the fourth embodiment. The guide rail 31D and the guide blocks 32DL and 32DR provided in the moving body 1D of the form may be provided. Further, as the drive system for moving the wheel side mechanism 40 with respect to the vehicle body side mechanism 21, the same drive system as in the second embodiment may be adopted.

[Sixth Embodiment]
Next, a sixth embodiment of the present invention will be described with reference to FIGS. 11 and 12. In the present embodiment, the same reference reference numerals as those of the first embodiment or the fifth embodiment are used for the elements having the same or similar configurations as those of the first embodiment or the fifth embodiment, and the first embodiment or the first embodiment or the first embodiment. 5 Detailed description of the same items as in the embodiment will be omitted.

With reference to FIGS. 11 and 12, the rear wheel support mechanism 20F of the moving body 1F of the present embodiment includes a guide mechanism 30F having a configuration different from that of the guide mechanism 30 of the first embodiment. Similar to the guide mechanism 30 of the first embodiment, the guide mechanism 30F is a guide formed in an upwardly convex arc shape between the base plate 22 of the vehicle body side mechanism 21 and the movable plate 41 of the wheel side mechanism 40. A rail 31 and guide blocks 32, 32 engaged with the guide rail 31 are provided. However, in the present embodiment, the guide rail 31 is fixed to the lower part of the rear surface of the base plate 22, and the guide blocks 32 and 32 are fixed to the lower part of the movable plate 41.

Further, the guide mechanism 30F includes a pitch swing limiting mechanism 60 having a pair of rollers 61, 61 as in the fifth embodiment. However, in the present embodiment, the pitch swing limiting mechanism 60 is arranged at a position near the upper part of the base plate 22 and the movable plate 41.

The configuration of the mobile body 1F of the present embodiment is the same as that of the first embodiment or the fifth embodiment except for the matters described above. Such a moving body 1F can exert the same effect as the moving body 1E of the fifth embodiment.

In the present embodiment, instead of the pitch swing limiting mechanism 60, a link mechanism similar to the link mechanism 35 provided in the moving body 1A of the first embodiment is provided at a location near the upper part of the base plate 22 and the movable plate 41. You may. Further, instead of the guide rail 31 and the guide blocks 32 and 32, the guide rails 31CL and 31CR and the guide blocks 32CL and 32CR provided in the moving body 1C of the third embodiment, or the moving body 1D of the fourth embodiment The guide rail 31D and the guide blocks 32DL and 32DR may be provided. Further, as the drive system for moving the wheel side mechanism 40 with respect to the vehicle body side mechanism 21, the same drive system as in the second embodiment may be adopted.

[7th Embodiment]
Next, a seventh embodiment of the present invention will be described with reference to FIGS. 13 and 14. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIGS. 13 and 14, the rear wheel support mechanism 20G of the moving body 1G of the present embodiment is a pitch swing limiting mechanism for limiting (suppressing) the swing of the movable plate 41 in the pitch direction with respect to the base plate 22. As a guide mechanism 30G including a pitch swing limiting mechanism 70 different from the link mechanism 35 in the first embodiment.

The pitch swing limiting mechanism 70 includes a pair of guide rails 71, 71 fixed to the rear surface of the base plate 22 so as to extend linearly in the vehicle width direction with an interval in the vertical direction of the vehicle body 2. A first moving member 72 engaged with the guide rails 71, 71 so as to be able to move along the guide rails 71, 71, and the first moving member 72 in a direction orthogonal to the guide rails 71, 71. It has a guide rail 73 fixed so as to extend linearly, and a second moving member 74 engaged with the guide rail 73 so as to be able to move along the guide rail 73. The moving member 74 is pivotally supported by the movable plate 41 so that it can rotate about the center of rotation in the same direction as the tilt center axis C1 with respect to the movable plate 41.

The second moving member 74 of the pitch swing limiting mechanism 70 having such a configuration can move in any direction with respect to the base plate 22 in a direction orthogonal to the tilting center axis C1. Therefore, the movable plate 41 axially supporting the second moving member 74 can move along the guide rail 31 while the swing in the pitch direction with respect to the base plate 22 is restricted (suppressed).

The configuration of the mobile body 1G of the present embodiment is the same as that of the mobile body 1A of the first embodiment except for the matters described above. In such a moving body 1G, when the moving body 1G is stopped or traveling at a low speed, the operation control of the actuator 50 is performed so as to move the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 as in the first embodiment. As a result, the rear wheels 3r, together with the wheel-side mechanism 40, tilt in the roll direction while moving in the vehicle width direction (left-right direction) with respect to the vehicle body 2. Thereby, the same effect as that of the first embodiment can be obtained.

In addition, in this embodiment, instead of the guide rail 31 and the guide blocks 32, 32, the guide rails 31CL, 31CR and the guide blocks 32CL, 32CR provided in the moving body 1C of the third embodiment, or the fourth embodiment The guide rail 31D and the guide blocks 32DL and 3DCR provided for the moving body 1D may be provided. Further, as the drive system for moving the wheel side mechanism 40 with respect to the vehicle body side mechanism 21, the same drive system as in the second embodiment may be adopted.

[8th Embodiment]
Next, an eighth embodiment of the present invention will be described with reference to FIGS. 15 to 16B. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIGS. 15 and 16A, the rear wheel support mechanism 20H of the moving body 1H of the present embodiment includes a guide mechanism 30H having a configuration different from that of the guide mechanism 30 of the first embodiment. The guide mechanism 30H is a pair of guide rails 80 fixed to the rear surface of the base plate 22 of the vehicle body side mechanism 21 so as to extend linearly in the vehicle width direction with an interval in the vertical direction of the vehicle body 2. 80, a plate-shaped slide plate 81 engaged with the guide rails 80, 80 so as to be able to slide along the guide rails 80, 80, and a shaft in the front-rear direction of the vehicle body 2 with respect to the slide plate 81. A disk-shaped rotating plate 82 axially supported by the slide plate 81 is provided so as to be able to rotate around the center, and the front surface of the movable plate 41 of the wheel side mechanism 40 is fixed to the rotating plate 82. ..

Therefore, the movable plate 41 can move in the vehicle width direction along the guide rails 80 and 80 together with the slide plate 81 and the rotating plate 82 with respect to the base plate 22 (and thus to the vehicle body 2). It is supported by the base plate 22 of the above, and is also supported by the base plate 22 so that it can rotate in the roll direction together with the rotating plate 82 with respect to the base plate 22 (and thus to the vehicle body 2). The direction of the rotation axis of the rotation plate 82 may be, for example, the same direction as the tilt center axis C1 in the first embodiment.

Supplementally, in the present embodiment, the guide rails 80 and 80 correspond to the first guide rail in the present invention, and the slide plate 81 corresponds to the first slide member in the present invention.

Further, the rear wheel support mechanism 20H in the present embodiment includes an actuator 85 configured by, for example, an electric motor with a speed reducer as an actuator that generates a driving force for moving the wheel side mechanism 40 with respect to the vehicle body side mechanism 21. The housing of the actuator 85 is fixed to the side portion of the base plate 22. In this case, the output shaft (rotation drive shaft) of the actuator 85 is oriented in the same direction as the rotation axis of the rotation plate 82. A movable plate 41 is connected to the output shaft of the actuator 85 via a link mechanism 86.

In this case, the link mechanism 86 has three links 87a, 87b, 87c. Then, one end of the link 87a is fixed to the output shaft so that it can rotate integrally with the output shaft of the actuator 85. Further, the intermediate portion and the other end portion of the link 87a are provided so that one end portions of the links 87b and 87c can rotate relative to the rotation axis of the rotation plate 82 with respect to the rotation axis of the rotation plate 82. Each is connected to. Further, the other ends of the links 87b and 87c are oriented in the radial direction of the rotating plate 82 so that they can rotate relative to the movable plate 41 around the rotating axis in the same direction as the rotating axis of the rotating plate 82. It is pivotally supported by the movable plate 41 at intervals.

As a result, when the output shaft of the actuator 85 is rotationally driven, the movable plate 41 rotates along the guide rails 80, 80 and rotates around the rotation axis of the rotary plate 82. In this case, the rear wheels 3r supported by the movable plate 41 via the support arm 42 are around the tilt center axis C1 passing below the ground plane of the rear wheels 3r, as in the moving body 1A of the first embodiment. The lengths of the links 87b and 87c and the positional relationship between both ends thereof are set so as to tilt in the roll direction.

The configuration of the mobile body 1H of the present embodiment is the same as that of the mobile body 1A of the first embodiment except for the matters described above. In such a moving body 1H, the operation control of the actuator 85 is performed so as to move the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 as in the first embodiment when the moving body 1H is stopped moving or travels at a low speed. As a result, the rear wheels 3r, together with the movable plate 41, tilt in the roll direction while moving in the vehicle width direction (left-right direction) with respect to the vehicle body 2. Thereby, the same effect as that of the first embodiment can be obtained.

[9th Embodiment]
Next, a ninth embodiment of the present invention will be described with reference to FIG. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIG. 17, in the moving body 1J of the present embodiment, the base plate 22 of the vehicle body side mechanism 21 of the rear wheel support mechanism 20 is fixed to the vehicle body 2. The moving body 1J of the present embodiment includes a wheel-side mechanism 40J having a configuration different from that of the wheel-side mechanism 40 of the first embodiment.

The wheel-side mechanism 40J allows the rear wheels 3r to swing in the pitch direction (specifically, in the direction around the axle in the same direction as the axle of the rear wheels 3r) with respect to the movable plate 41 of the wheel-side mechanism 40. The rear wheel 3r is configured to be supported on the movable plate 41 via a link mechanism 90.

Specifically, the link mechanism 90 connects the support arms 91a and 91b extending rearward from the upper and lower sides of the movable plate 41 and the rear ends of the support arms 91a and 91b, respectively. It has a link 91c. In this case, the support arms 91a and 91b are pivotally supported by the movable plate 41 so that they can swing in the pitch direction with respect to the movable plate 41. The link 91c is a support arm 91a. They are connected to the rear ends of the support arms 91a and 91b so that they can swing in the pitch direction relative to each of the 91b.

Of the support arms 91a and 91b, the rear wheels 3r are pivotally supported by the support arm 91a via, for example, the rear wheel side axle unit 43 mounted near the rear end of the upper support arm 91a. As a result, the rear wheels 3r are supported by the movable plate 41 via the link mechanism 90 so that the rear wheels 3r can swing with respect to the movable plate 41 in the pitch direction.

Further, the connecting portion between the support arm 91b and the link 91c and the connecting portion between the support arm 91a and the movable plate 41 are connected via a damper 92 that brakes the swing of the rear wheels 3r with respect to the movable plate 41 in the pitch direction. Has been done.

The mobile body 1J of the present embodiment is the same as the mobile body 1A of the first embodiment except for the matters described above. The mobile body 1J of the present embodiment can also have the same effect as the mobile body 1A of the first embodiment.

The rear wheel support mechanism of the moving body 1J of the present embodiment is not limited to the rear wheel support mechanism 20 having the same configuration as that of the first embodiment, and the rear wheel support mechanisms 20B to the second to eighth embodiments described above. It may have the same configuration as any of 20H.

[10th Embodiment]
Next, a tenth embodiment of the present invention will be described with reference to FIG. In this embodiment, the same reference numerals as those in the first embodiment are used for elements having the same or similar configurations as those in the first embodiment, and detailed description of the same items as in the first embodiment is omitted. do.

With reference to FIG. 18, in the moving body 1K of the present embodiment, in the base plate 22 of the rear wheel support mechanism 20, in the straight running posture of the moving body 1K, the central axis C2 of the tilting of the rear wheels 3r in the roll direction is a horizontal plane. It is attached to the vehicle body 2 so as to incline slightly backward. Other than this, it is the same as the mobile body 1A of the first embodiment. In such a moving body 1K, when the moving body 1K is stopped or traveling at a low speed, the operation control of the actuator 85 is performed so as to move the wheel side mechanism 40 with respect to the vehicle body side mechanism 21 as in the first embodiment. As a result, the rear wheels 3r, together with the movable plate 41, tilt in the roll direction while moving in the vehicle width direction (left-right direction) with respect to the vehicle body 2. Thereby, the same effect as that of the first embodiment can be obtained.

The direction of the central axis C2 in the straight running posture of the moving body 1K of the present embodiment may be a horizontal direction. Further, the rear wheel support mechanism of the moving body 1K of the present embodiment is not limited to the rear wheel support mechanism 20 having the same configuration as that of the first embodiment, but is either the second embodiment or the fifth to ninth embodiments. It may have the same configuration as the rear wheel support mechanism of the embodiment.

[Other Embodiments]
The moving body of the present invention is not limited to the moving body of the first to tenth embodiments described above, and other embodiments can also be adopted. Some other embodiments will be described below. In the first to second embodiments, the fifth to seventh embodiments, and the ninth to tenth embodiments, the guide rail 31 (first guide rail) of the guide mechanism 30 is attached to the vehicle body side mechanism 21 and the guide block 32 ( The first slide member) was attached to the wheel side mechanism 40. However, on the contrary, a configuration may be adopted in which the guide rail 31 (first guide rail) is attached to the wheel side mechanism 40 and the guide block 32 (first slide member) is attached to the vehicle body side mechanism 21.

Similarly, the guide rails 31CL, 31CR or 31D as the first guide rail in the third embodiment or the fourth embodiment are attached to the wheel side mechanism 40 and used as the first slide member in the third embodiment or the fourth embodiment. The guide block 32CL, 32CR or 32DL, 32DR may be attached to the vehicle body side mechanism 21.

Similarly, a configuration may be adopted in which the guide rail 80 as the first guide rail in the eighth embodiment is attached to the wheel side mechanism 40, and the slide plate 81 as the first slide member is attached to the vehicle body side mechanism 21.

Further, in the third embodiment or the fourth embodiment, the rear wheel support mechanisms 20C and 20D do not have a single tilting center axis C1 of the rear wheels 3r, but the moving bodies 1C and 1D in a straight running posture. (A plane that passes through the center of the rear wheels 3r and is orthogonal to the axle of the rear wheels 3r) and the rear wheels 3r in a state where the rear wheels 3r are tilted in the roll direction with respect to the vehicle body 2. The line of intersection (pseudo tilting center axis) of the wheel 3r with the wheel width center surface passes under the ground contact surface of the rear wheel 3r, similarly to the tilting center axis C1 relating to the moving body 1A of the first embodiment. The rear wheel support mechanisms 20C and 20D are configured so as to extend downward in the front direction.

However, in the third embodiment or the fourth embodiment, the line of intersection of the rear wheel support mechanisms 20C and 20D as a pseudo tilt center axis extends horizontally through the lower side of the ground contact surface of the rear wheel 3r. It can be configured to be present or to extend backwards.

Further, the moving body of the present invention is not limited to one having one front wheel and one rear wheel, and may have two wheels in which the front wheels or the rear wheels are arranged side by side.

1A ~ 1K ... moving body, 2 ... car body, 3f ... front wheel, 3r ... rear wheel, 10 ... front wheel support mechanism, 20, 20B ~ 20J ... rear wheel support mechanism, 21 ... car body side mechanism, 30, 30C ~ 30H ... guide Mechanism, 31, 31CL, 31CR, 31D, 80 ... Guide rail (first guide rail), 32, 32CL, 32CR, 32DL, 32DR ... Guide block (first slide member), 81 ... Slide plate (first slide member) , 86 ... Link mechanism, 40, 40J ... Wheel side mechanism.

For example, when the vehicle body 2 is tilted to the left from an upright posture (a posture in which the vertical direction of the vehicle body 2 coincides with or almost coincides with the vertical direction) (when the vehicle body 2 tilts counterclockwise when viewed from the rear of the moving body 1A). ), The actuator 50 is controlled so that the rear wheels 3r are tilted to the left with respect to the vehicle body 2. At this time, the rear wheel 3r moves to the left side with respect to the vehicle body 2 and tilts to the left side , so that the moment in the direction of returning the vehicle body 2 to the standing posture (the moment in the clockwise direction when viewed from the rear of the moving body 1A) is generated. It occurs with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the left.

Further, when the vehicle body 2 is tilted to the right from the standing posture (when the vehicle body 2 is tilted clockwise when viewed from the rear of the moving body 1A), the actuator 50 sets the rear wheels 3r on the right side with respect to the vehicle body 2. It is controlled to tilt to. At this time, the rear wheel 3r moves to the right side with respect to the vehicle body 2 and tilts to the right side to return the vehicle body 2 to the standing posture (moment in the counterclockwise direction when viewed from the rear of the moving body 1A). Occurs with good responsiveness. As a result, the vehicle body 2 is quickly prevented from tilting further to the right.

Claims (9)

A vehicle body, front wheels and rear wheels arranged at intervals in the front-rear direction of the vehicle body, a front wheel support mechanism for supporting the front wheels on the vehicle body, and a rear wheel support mechanism for supporting the rear wheels on the vehicle body. It is a mobile body equipped with
The rear wheel support mechanism
The vehicle body side mechanism supported by the vehicle body and
A wheel-side mechanism that supports the rear wheels and
It includes one or more guide rails and one or more slide members engaged with the guide rails so that they can move along the guide rails, as the slide members move along the guide rails. The rear wheels supported by the wheel-side mechanism move in the left-right direction of the vehicle body with respect to the vehicle body supporting the vehicle body-side mechanism, and tilt in the roll direction with respect to the vehicle body. A guide mechanism configured to support the wheel-side mechanism to the vehicle-body-side mechanism so as to obtain
One or more driving forces generated between the vehicle body side mechanism and the wheel side mechanism to cause the rear wheels to move the vehicle body in the left-right direction and tilt in the roll direction with respect to the vehicle body. A moving body characterized by having an actuator of the above. In the moving body according to claim 1,
When the rear wheel is moved toward the left side of the vehicle body, the guide mechanism moves the wheel side mechanism together with the rear wheel toward the left side of the vehicle body with respect to the vehicle body side mechanism, and the vehicle body. When the rear wheel is tilted to the left side so as to increase the inclination of the rear wheel and the rear wheel is moved toward the right side of the vehicle body, the wheel side mechanism together with the rear wheel with respect to the vehicle body side mechanism. A moving body characterized in that it is configured to tilt so as to increase its inclination to the right side of the vehicle body while moving toward the right side of the vehicle body. In the moving body according to claim 1 or 2.
In the guide mechanism, as the inclination of the rear wheels to the left and right sides of the vehicle body increases, the central portion of the rear wheels moves upward in the vertical direction of the vehicle body relative to the vehicle body side mechanism. Alternatively, a moving body characterized in that it is configured to be displaced downward. In the moving body according to any one of claims 1 to 3,
As the guide rail, the guide mechanism includes a first guide rail extending in the left-right direction of the vehicle body when the vehicle body of the moving body in a straight running posture is viewed from above, and also serves as the slide member. The first guide rail is attached to a rail-side mechanism that includes a first slide member engaged with the first guide rail and is one of the vehicle body-side mechanism and the wheel-side mechanism, and the vehicle body side. A moving body characterized in that the first slide member is attached to a slide-side mechanism which is the other mechanism of the mechanism and the wheel-side mechanism. In the moving body according to claim 4,
The first guide rail is formed so as to extend in a mountain-shaped shape that is convex upward when the vehicle body side mechanism and the wheel side mechanism of the moving body in a straight running posture are viewed from the rear.
When the first slide member moves along the first guide rail relative to the rail side mechanism together with the slide side mechanism, the wheel side mechanism together with the rear wheel with respect to the vehicle body side mechanism. A moving body characterized in that it is attached to the slide-side mechanism so as to tilt in the roll direction relative to the vehicle body-side mechanism while relatively moving in the left-right direction of the vehicle body. In the moving body according to claim 5,
The shape of the first guide rail is such that the inclination of the rear wheel in the roll direction increases from the engagement position of the first slide member with respect to the first guide rail in the moving body in a straight running posture. When the vehicle moves along the first guide rail relative to the rail-side mechanism of the vehicle body, the central portion of the rear wheel moves up and down relative to the vehicle body-side mechanism with the movement. A moving body characterized in that it is formed so as to be displaced upward or downward in a direction. In the moving body according to claim 4,
When the vehicle body side mechanism and the wheel side mechanism of the moving body in the straight running posture are viewed from the rear, the first guide rail is downward to the left on the left side of the vehicle width center surface of the moving body. It has an extending 1L guide rail and a 1st R guide rail extending downward to the right on the right side of the vehicle width center surface of the moving body.
The first slide member has a first L slide member and a first R slide member that are engaged with the first L guide rail and the first R slide member, respectively.
The first L slide member and the first R slide member are attached to the slide side mechanism so that the distance between the first L slide member and the first R slide member is kept constant, and the first R slide member is attached to the slide side mechanism. When each of the 1L slide member and the first R slide member moves along the first L guide rail and the first R guide rail relative to the rail side mechanism, the wheel side mechanism moves after the rear. Along with the wheels, the slide side mechanism is attached so as to move in the left-right direction of the vehicle body relative to the vehicle body side mechanism and tilt in the roll direction relative to the vehicle body side mechanism. A moving body characterized by. In the moving body according to claim 7,
The shapes of the first L guide rail and the first R guide rail are such that the first L slide member and the first R slide member each have the first L guide rail and the first R in the moving body in a straight running posture. When moving along the first guide rail from the engagement position with respect to each of the guide rails so as to be relative to each of the ends of the first guide rail with respect to the rail-side mechanism, the movement is accompanied by the movement. A moving body characterized in that the central portion of the rear wheel is formed so as to be displaced upward or downward in the vertical direction of the vehicle body relative to the vehicle body side mechanism. In the moving body according to claim 4,
The first guide rail is a guide rail that extends linearly in the left-right direction of the vehicle body when the vehicle body of the moving body in a straight running posture is viewed from above.
The slide-side mechanism is attached to the first slide member so as to be able to rotate in the roll direction relative to the rail-side mechanism, and the slide-side mechanism is relative to the rail-side mechanism. A translational driving force for moving the slide-side mechanism along the first guide rail and a rotational driving force for rotating the slide-side mechanism in the roll direction relative to the rail-side mechanism are applied in parallel from the actuator. A moving body characterized in that it is connected to the output shaft of the actuator via a link mechanism.

Images