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11. 发明申请

US20120168235A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120168235A1
公开(公告)日：2012-07-05
申请号：US13395578
申请日：2009-09-18
申请人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
发明人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
IPC分类号： B62D61/00
CPC分类号： B62J1/005 , B60L11/1805 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , Y02T10/7005
摘要： In an inverted pendulum type vehicle (1) configured to travel on a ground surface (G) while maintaining an upright posture under an inverted pendulum control, comprising a base frame (2) supporting a propulsion unit (3), the propulsion unit including a main wheel (85) configured to roll on the ground surface, and a seat unit (4) provided on the base frame for supporting hips of a rider (H), the seat unit includes a saddle (63) having at least a center (C) located ahead of an axial line (B) extending between a rotational center line (A) of the main wheel and a gravitational center (Gt1) of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.
摘要翻译：在倒立摆式车辆（1）中，其构造成在倒立摆控制下保持直立姿势的同时在地面（G）上行进，包括支撑推进单元（3）的基架（2），所述推进单元包括配置成在地面上滚动的主轮（85）以及设置在基座上用于支撑骑手（H）的臀部的座椅单元（4），座椅单元包括至少具有中心（ C）位于在主轮的旋转中心线（A）和倒立摆式车辆的重力中心（Gt1）之间延伸的轴线（B）的前方。因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。

12. 发明授权

US08522902B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08522902B2
公开(公告)日：2013-09-03
申请号：US13395578
申请日：2009-09-18
申请人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
发明人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
IPC分类号： B62D61/00 , B62K15/00 , B62K1/00
CPC分类号： B62J1/005 , B60L11/1805 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , Y02T10/7005
摘要： In an inverted pendulum type vehicle configured to travel on a ground surface while maintaining an upright posture under an inverted pendulum control, comprising a base frame supporting a propulsion unit, the propulsion unit including a main wheel configured to roll on the ground surface, and a seat unit provided on the base frame for supporting hips of a rider, the seat unit includes a saddle having at least a center located ahead of an axial line extending between a rotational center line of the main wheel and a gravitational center of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.
摘要翻译：在倒立摆式车辆中，其构造成在倒立摆控制下保持直立姿势的同时在地面上行进，包括支撑推进单元的基座框架，所述推进单元包括构造成在地面上滚动的主轮，以及所述座椅单元设置在所述基座上，用于支撑骑手的臀部，所述座椅单元包括鞍座，所述鞍座至少具有位于在所述主轮的旋转中心线与所述倒立摆型重力中心之间延伸的轴线前方的中心车辆。因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。

13. 发明授权

US08225891B2 Inverted pendulum mobile vehicle 有权
标题翻译：倒立摆移动车
公开(公告)号：US08225891B2
公开(公告)日：2012-07-24
申请号：US12454394
申请日：2009-05-18
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B62D61/00
CPC分类号： B62K11/007 , B60L2200/16 , B60L2240/22 , B60L2260/34
摘要： Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship. Thereby, even when the wheel supporting frame undergoes a rapid yaw movement either while traveling in a fore-and-aft direction or remaining stationary, the body frame that carries a vehicle occupant or a cargo is allowed to follow the yaw movement of the wheel supporting frame at a slower angular speed and/or acceleration/deceleration so that the vehicle occupant is prevented from experiencing discomfort and the cargo is prevented from shifting on the body frame or falling off from the vehicle.
摘要翻译：提供了一种倒立摆移动车辆，例如单乘客同轴二轮车辆，其能够以小的转动半径转动而不会引起乘客或车辆乘员的不适，或使车辆上的货物等移动或从车辆脱落。车辆包括车轮支撑框架（12），由车轮支撑框架支撑的主体框架（12），以便能够围绕垂直轴线旋转并且携带乘客和/或货物和车身联接器（52,78） 70），其以预定的动态位置关系相对于车轮支撑框架联接车体框架。因此，即使当车轮支撑框架在前后方向上行进或保持静止时经历快速偏航运动时，允许携带车辆乘员或货物的车身框架跟随车轮支撑的偏航运动框架以较慢的角速度和/或加速/减速，使得车辆乘员被防止体验不适，并且防止货物在车身框架上移动或从车辆脱落。

14. 发明申请

US20110209932A1 OMNI-DIRECTIONAL VEHICLE 有权
标题翻译： OMNI-DIRECTIONAL车辆
公开(公告)号：US20110209932A1
公开(公告)日：2011-09-01
申请号：US12599223
申请日：2008-05-16
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B62D9/00 , B62D61/00 , B62D51/02
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2360/10 , B60B2360/32 , B60B2360/50 , B62H1/12 , B62K11/007
摘要： [Task] Provided is a vehicle that can make tight turns without significantly changing an attitude of a rider, and is highly convenient in narrow places.[Solution] A omni-directional one-wheeled vehicle comprises a vehicle body (7) and a secondary wheel (35) configured to contact a ground surface at a point displaced from a contact point of a driven road wheel (2).
摘要翻译： [任务]提供一种车辆，可以在没有显着改变骑手的态度的情况下进行紧急转弯，而且在狭窄的地方非常方便。 [解决方案]一种全向单向车辆包括车身（7）和次轮（35），其被配置为在从被驱动的车轮（2）的接触点移位的点处接触地面。

15. 发明申请

US20100096905A1 OMNI-DIRECTIONAL DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译： OMNI方向驱动装置和OMNI方向车辆
公开(公告)号：US20100096905A1
公开(公告)日：2010-04-22
申请号：US12450357
申请日：2008-04-08
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B60B19/12 , B60B19/14
CPC分类号： B62K1/00 , B60B19/00 , B60B19/003 , B60B19/125 , B60B33/08 , B60B2200/47 , B60B2360/10 , B60B2360/32 , B60B2360/50 , B60Y2200/40 , B62K11/007
摘要： The omni-directional drive device comprises a main wheel (2) comprising an endless annular member rotatable around a center of cross section perpendicular to a corresponding tangential line, electric motors (5R and 5L) for producing rotative forces around the rotation axis of the main wheel (2) and around the center of cross section perpendicular to a corresponding tangential line of the main wheel (2) and an arrangement (rotary members (4R and 4L) fitted with free rollers (3R and 3L)) for converting the rotational forces of the electric motors (5R and 5L) to the rotational forces around the rotation center of the main wheel (2) and around the center (C) of cross section perpendicular to a corresponding tangential line of the main wheel (2).
摘要翻译：全方向驱动装置包括主轮（2），其包括可围绕垂直于相应切线的横截面中心旋转的环形环形构件，用于产生绕主体的旋转轴线的旋转力的电动机（5R和5L）轮（2）和垂直于主轮（2）的对应切线的横截面的中心周围，以及装配有自由辊（3R和3L）的旋转构件（4R和4L）），用于将旋转力电动机（5R和5L）与围绕主轮（2）的旋转中心的旋转力和垂直于主轮（2）的相应切线的横截面的中心（C）相关联。

16. 发明申请

US20100038960A1 OMNI-DIRECTIONAL DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译： OMNI方向驱动装置和OMNI方向车辆
公开(公告)号：US20100038960A1
公开(公告)日：2010-02-18
申请号：US12450356
申请日：2008-04-08
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B62D15/00
CPC分类号： B62K1/00 , B60B19/00 , B60B19/003 , B60B19/125 , B60B33/08 , B60B2200/47 , B60B2360/10 , B60Y2200/40 , B62K11/007
摘要： [Task] Provided is an omni-directional drive device that does not complicate the arrangement for a power source for a drive source such as an electric motor, and achieves a high durability and an ease of maintenance.[Solution] A drive force in a first direction is produced by a movement of a first moveable member (10) itself, and a drive force in a second direction is produced by the rotation of first free rollers (14) retained by the first moveable member, the rotation of the first free rollers (14) being caused by engagement with second free rollers (15) that are retained by a second moveable member (11) and rotative actuation of the second moveable member (11). Electric motors serving as drive sources may be mounted on base members (4 and 5).
摘要翻译： [任务]提供了一种全功能驱动装置，其不会使诸如电动机之类的驱动源的电源的布置复杂化，并且实现了高耐久性和易于维护。 [解决方案]通过第一可移动构件（10）本身的运动产生沿第一方向的驱动力，并且通过第一可移动构件（10）保持的第一自由辊（14）的旋转产生沿第二方向的驱动力第一自由辊（14）的旋转是由与第二可移动构件（11）保持的第二自由辊（15）的接合和第二可动构件（11）的旋转致动引起的。用作驱动源的电动机可以安装在基座构件（4和5）上。

17. 发明授权

US08342270B2 Omni-directional drive device and omni-directional vehicle using the same 有权
标题翻译：全方位驱动装置和全方位车辆使用相同
公开(公告)号：US08342270B2
公开(公告)日：2013-01-01
申请号：US12450357
申请日：2008-04-08
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B62D57/00
CPC分类号： B62K1/00 , B60B19/00 , B60B19/003 , B60B19/125 , B60B33/08 , B60B2200/47 , B60B2360/10 , B60B2360/32 , B60B2360/50 , B60Y2200/40 , B62K11/007
摘要： The omni-directional drive device comprises a main wheel (2) comprising an endless annular member rotatable around a center of cross section perpendicular to a corresponding tangential line, electric motors (5R and 5L) for producing rotative forces around the rotation axis of the main wheel (2) and around the center of cross section perpendicular to a corresponding tangential line of the main wheel (2) and an arrangement (rotary members (4R and 4L) fitted with free rollers (3R and 3L)) for converting the rotational forces of the electric motors (5R and 5L) to the rotational forces around the rotation center of the main wheel (2) and around the center (C) of cross section perpendicular to a corresponding tangential line of the main wheel (2).
摘要翻译：全方向驱动装置包括主轮（2），其包括可围绕垂直于相应切线的横截面中心旋转的环形环形构件，用于产生绕主体的旋转轴线的旋转力的电动机（5R和5L）轮（2）和垂直于主轮（2）的对应切线的横截面的中心周围，以及装配有自由辊（3R和3L）的旋转构件（4R和4L）），用于将旋转力电动机（5R和5L）与围绕主轮（2）的旋转中心的旋转力和垂直于主轮（2）的相应切线的横截面的中心（C）相关联。

18. 发明授权

US07980336B2 Omni-directional drive device and omni-directional vehicle using the same 有权
标题翻译：全方位驱动装置和全方位车辆使用相同
公开(公告)号：US07980336B2
公开(公告)日：2011-07-19
申请号：US12450356
申请日：2008-04-08
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B60B19/14 , F16H13/08
CPC分类号： B62K1/00 , B60B19/00 , B60B19/003 , B60B19/125 , B60B33/08 , B60B2200/47 , B60B2360/10 , B60Y2200/40 , B62K11/007
摘要： Provided is an omni-directional drive device that does not complicate the arrangement for a power source for a drive source such as an electric motor, and achieves a high durability and an ease of maintenance. A drive force in a first direction is produced by a movement of a first moveable member (10) itself, and a drive force in a second direction is produced by the rotation of first free rollers (14) retained by the first moveable member, the rotation of the first free rollers (14) being caused by engagement with second free rollers (15) that are retained by a second moveable member (11) and rotative actuation of the second moveable member (11). Electric motors serving as drive sources may be mounted on base members (4 and 5).
摘要翻译：提供了一种不会使用于诸如电动机的驱动源的电源的布置复杂化的全方位驱动装置，并且实现了高耐久性和易于维护。通过第一可移动部件（10）本身的移动产生第一方向的驱动力，并且通过第一可移动部件保持的第一自由辊（14）的旋转产生沿第二方向的驱动力，第一自由辊（14）的旋转是由与第二可移动构件（11）保持的第二自由辊（15）的接合和第二可移动构件（11）的旋转致动引起的。用作驱动源的电动机可以安装在基座构件（4和5）上。

19. 发明授权

US08240407B2 Omni-directional vehicle 有权
标题翻译：全方位车
公开(公告)号：US08240407B2
公开(公告)日：2012-08-14
申请号：US12599223
申请日：2008-05-16
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B60B19/12 , B62H1/12
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2360/10 , B60B2360/32 , B60B2360/50 , B62H1/12 , B62K11/007
摘要： Provided is a vehicle that can make tight turns without significantly changing an attitude of a rider, and is highly convenient in narrow places. A omni-directional one-wheeled vehicle comprises a vehicle body (7) and a secondary wheel (35) configured to contact a ground surface at a point displaced from a contact point of a driven road wheel (2).
摘要翻译：提供一种可以在不显着改变骑车人的姿态的情况下进行紧凑转弯的车辆，并且在狭窄的地方非常方便。一种全向单向车辆包括车体（7）和次轮（35），其被构造成在从被驱动车轮（2）的接触点偏离的点处接触地面。

20. 发明申请

US20090288900A1 Inverted pendulum mobile vehicle 有权
标题翻译：倒立摆移动车
公开(公告)号：US20090288900A1
公开(公告)日：2009-11-26
申请号：US12454394
申请日：2009-05-18
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B62D61/00 , B62K1/00
CPC分类号： B62K11/007 , B60L2200/16 , B60L2240/22 , B60L2260/34
摘要： Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship. Thereby, even when the wheel supporting frame undergoes a rapid yaw movement either while traveling in a fore-and-aft direction or remaining stationary, the body frame that carries a vehicle occupant or a cargo is allowed to follow the yaw movement of the wheel supporting frame at a slower angular speed and/or acceleration/deceleration so that the vehicle occupant is prevented from experiencing discomfort and the cargo is prevented from shifting on the body frame or falling off from the vehicle.
摘要翻译：提供了一种倒立摆移动车辆，例如单乘客同轴二轮车辆，其能够以小的转动半径转动而不会引起乘客或车辆乘员的不适，或使车辆上的货物等移动或从车辆脱落。车辆包括车轮支撑框架（12），由车轮支撑框架支撑的主体框架（12），以便能够围绕垂直轴线旋转并且携带乘客和/或货物和车身联接器（52,78） 70），其以预定的动态位置关系相对于车轮支撑框架联接车体框架。因此，即使当车轮支撑框架在前后方向上行进或保持静止时经历快速偏航运动时，允许携带车辆乘员或货物的车身框架跟随车轮支撑的偏航运动框架以较慢的角速度和/或加速/减速，使得车辆乘员被防止体验不适，并且防止货物在车身框架上移动或从车辆脱落。

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