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公开(公告)号：EP3342693B1
公开(公告)日：2019-06-19
申请号：EP17207248.0
申请日：2017-12-14
发明人： Araki, Makoto , Yamamoto, Yusuke , Takenaka, Toru
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公开(公告)号：EP3345818A1
公开(公告)日：2018-07-11
申请号：EP17207268.8
申请日：2017-12-14
发明人： Araki, Makoto , Kudo, Takashi , Takenaka, Toru
摘要： To enable, in a vehicle including a variable trail length mechanism, steering inertia to be reduced. A vehicle includes a vehicle body (10) and a front wheel that is disposed anterior to the vehicle body (10) and that is steerable about a steering axis (Cs). The vehicle body (10) includes a vehicle body frame (11) and a steering rotation unit (13) that is supported on the vehicle body frame (11) and that rotates about the steering axis (Cs). The vehicle includes a variable trail length mechanism (30). The variable trail length mechanism (30) includes an oscillation unit (41) that supports front forks (25L and 25R) that are disposed to be oscillatable in a fore-aft direction and that support the front wheel, and an electric motor (42) that oscillates the oscillation unit (41). The electric motor (42) is supported by the vehicle body (10).
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公开(公告)号：EP3342694A1
公开(公告)日：2018-07-04
申请号：EP17207255.5
申请日：2017-12-14
发明人： Araki, Makoto , Akimoto, Kazushi , Takenaka, Toru
IPC分类号： B62K21/00
摘要： In a vehicle that is provided a drive source for steering a front wheel, to support the drive source well with a simple structure.
A vehicle includes a vehicle frame (11), a steering swivel unit (13) supported on a head pipe (17) of the vehicle frame (11) and angularly movable about a steering axis (Cs), a front wheel angularly movable in unison with the steering swivel unit (13), and an automatic steering mechanism (31) for angularly moving the steering swivel unit (13), wherein the vehicle frame (11) includes a main frame (18) extending rearwardly from the head pipe (17), and the steering mechanism (31) includes a steering motor (80) for angularly moving the steering swivel unit (13), the steering motor (80) being supported on the main frame (18).-
公开(公告)号：EP3342693A1
公开(公告)日：2018-07-04
申请号：EP17207248.0
申请日：2017-12-14
发明人： Araki, Makoto , Yamamoto, Yusuke , Takenaka, Toru
CPC分类号： B62K21/10 , B62D5/0409 , B62D5/0466 , B62K11/04 , B62K21/00 , B62K21/02 , B62K21/12 , B62K21/22 , B62K23/00 , B62K25/08
摘要： [Object]
To prevent the movement of a steering handle that is linked to the movement of a front wheel from being transmitted to the rider.
[Solving Means]
A vehicle includes a vehicle frame 11, a steering swivel unit 13 supported on a head pipe 17 of the vehicle frame 11 and angularly movable about a steering axis Cs, a front wheel angularly movable in unison with the steering swivel unit 13, and a steering handle 26 mounted on the steering swivel unit 13. The vehicle has a steering handle turning mechanism 540 that makes the steering handle 26 angularly movable about the steering axis Cs relatively to the steering swivel unit 13. The steering handle turning mechanism 540 includes a handle turning motor 543 for angularly moving the steering handle 26 about the steering axis Cs.-
公开(公告)号：EP3147196B1
公开(公告)日：2018-06-20
申请号：EP16188528.0
申请日：2016-09-13
发明人： Mori, Yotaro , Yasui, Hisakazu , Araki, Makoto
CPC分类号： B62D5/0403 , B62D5/0421 , B62D7/16 , B62K21/00 , B62K21/02 , B62K21/10 , B62K21/18 , B62K25/08
摘要： To allow to transmit a steering force from an assist steering system to a steering shaft even when a part of a steering force transmit system becomes unworkable in a steering system of a saddle-ride type vehicle including a front fork that includes a steering shaft at the upper end and supports a front wheel at the lower end, a steering arm that is attached to the steering shaft, a steering force transmit member that is turnably supported by a steering stem that is arranged in a body frame, and a steering system link that joins the steering arm and the steering force transmit member. Engage sections (38d, 72d) are arranged between the steering force transmit member (38) and the steering assist force transmit member (72), and the engage sections (38d, 72d) allow the steering force transmit member (38) and a steering assist force transmit member (72) to be engaged with each other so that the steering assist force transmit member (72) is turned around the steering stem (39) accompanying turning of the steering force transmit member (38).
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公开(公告)号：EP3147193A1
公开(公告)日：2017-03-29
申请号：EP16188537.1
申请日：2016-09-13
发明人： Mori, Yotaro , Yasui, Hisakazu , Araki, Makoto
CPC分类号： B62D5/0409 , B62D5/0403 , B62K11/04 , B62K21/02 , B62K25/08
摘要： To suppress enlargement of a steering system in the steering system of a saddle-ride type vehicle including a front fork that includes a steering shaft at the upper end and supports a front wheel at the lower end, a steering arm that is attached to the steering shaft, a steering force transmit member that is turnably supported by a steering stem that is arranged in a body frame, and a steering system link that joins the steering arm and the steering force transmit member.
An assist motor (71) that generates a steering assist force that assists a steering force transmitted to the steering shaft (16), a steering assist force transmit member (72) that is turnably supported by the steering stem (39), and an assist steering system link (73) that joins the steering arm (45) and the steering assist force transmit member (72) are further provided, and the assist motor (71) is disposed adjacent to the assist steering system link (73).摘要翻译： 为了抑制包括在上端具有转向轴的前叉并且在下端支撑前轮的骑乘型车辆的转向系统中的转向系统的扩大，安装在转向装置上的转向臂 转向力传递部件，该转向力传递部件由布置在车身框架中的转向轴杆可转动地支承;以及转向系统连杆，其将转向臂和转向力传递部件连接起来。 产生辅助传递给转向轴（16）的转向力的转向辅助力的辅助马达（71），由转向杆（39）可转动地支撑的转向辅助力传递构件（72），以及辅助 进一步设置有连接转向臂45和转向辅助力传递部件72的转向系统连杆73，辅助马达71配置在辅助转向系统连杆73的附近。
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公开(公告)号：EP2664523B1
公开(公告)日：2015-04-29
申请号：EP13156526.9
申请日：2013-02-25
CPC分类号： B62D11/003 , B60B19/003 , B62H7/00 , B62K1/00 , B62K11/00 , B62K11/007 , B62K17/00 , Y02T10/7258
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公开(公告)号：EP2664528A1
公开(公告)日：2013-11-20
申请号：EP13163518.7
申请日：2013-04-12
发明人： Araki, Makoto , Shirokura, Shinya , Takenaka, Toru
CPC分类号： B62K3/007 , B60B19/003 , B62K1/00 , B62K11/007 , B62K17/00 , Y02T10/7241 , Y02T10/7258
摘要： Object
To provide an inverted pendulum type vehicle that makes it possible to turn the vehicle easily even in a state in which no steering operation is performed.
Solving Means
A control device 21 of a vehicle 1 sets a target turning angular velocity ωz_cmd to a nonzero value not only when a predetermined steering operation is performed but also at least in an external force application state in which an external force for turning the vehicle 1 about a yaw axis is applied to the vehicle 1, and controls a first actuator device 8 and a second actuator device such that a second moving operation part 4 has a different velocity from a first moving operation part 3 in a left-right direction.摘要翻译： 本发明的目的是提供一种倒立摆式车辆，即使在没有执行转向操作的状态下也能够容易地转动车辆。 [解决方法]车辆1的控制装置21不仅在进行规定的转向操作的情况下，而且在车辆1转弯时的外力的外力施加状态下，将目标转弯角速度ωz_cmd设定为非零值 关于偏航轴被施加到车辆1，并且控制第一致动器装置8和第二致动器装置，使得第二移动操作部4在左右方向上具有与第一移动操作部3不同的速度。
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公开(公告)号：EP2664462A1
公开(公告)日：2013-11-20
申请号：EP13156770.3
申请日：2013-02-26
发明人： Takenaka, Toru , Shirokura, Shinya , Araki, Makoto
CPC分类号： B62D11/003 , B60B19/003 , B62K11/007
摘要： An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions. In a situation wherein a predetermined representative point of the vehicle or the first travel operation unit is to be moved rightward or leftward, the traveling operations of the first travel operation unit and the second travel operation unit are controlled such that the travel velocity of the first travel operation unit and the travel velocity of the second travel operation unit in the lateral direction are different from each other so as to cause the vehicle to turn about a turn center at the rear of a ground contact point of the first travel operation unit.
摘要翻译： 具有可倾斜驾驶员安装部分的倒立摆式车辆包括第一行驶操作单元和第二行驶操作单元，它们沿纵向方向在它们之间设置间隔设置并且能够在所有方向上行驶。 在要使车辆的预定代表点或第一行驶操作单元向右或向左移动的情况下，控制第一行驶操作单元和第二行驶操作单元的行驶操作，使得第一行驶操作单元和第二行驶操作单元的行驶速度 行驶操作单元和第二行驶操作单元在横向方向上的行驶速度彼此不同，以使得车辆围绕第一行驶操作单元的接地点后方的转弯中心转弯。
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30.发明公开Posture control device of motorcycle and motorcycle 有权Haltungskontrollvorrichtung eines Motorrads sowie Motorrad
公开(公告)号：EP2436586A1
公开(公告)日：2012-04-04
申请号：EP11182803.4
申请日：2011-09-26
IPC分类号： B62K21/00
CPC分类号： B62K21/00
摘要： In outputting a synthesized output by adjusting a yaw direction output and a roll direction output outputted from a displacement detection sensor (41) by an adjustment part respectively, a synthesized output in which the yaw direction output is larger than the roll direction output is outputted when a vehicle speed is low, and a synthesized output in which the roll direction output is larger than the yaw direction output is outputted when the vehicle speed is high. Accordingly, in either a case where the vehicle is traveling at a low speed or a case where the vehicle is traveling at a high speed, the displacement and the behavior of a motorcycle (10) can be detected with high accuracy thus eventually realizing a control of the posture of the motorcycle (10) with high accuracy.
摘要翻译： 在分别通过调节偏移方向输出和偏移检测传感器输出的滚动方向输出来输出合成输出时，偏转方向输出大于滚动方向输出的合成输出被输出 车速低时，当车速高时，输出侧倾方向输出大于偏航方向输出的合成输出。 因此，在车辆以低速行驶的情况下或车辆高速行驶的情况下，可以高精度地检测摩托车（10）的位移和行为，最终实现控制 的摩托车（10）的姿势。
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