초록 ▼

The carrier vehicle includes a coaxial two-wheel vehicle including two wheels arranged on the same axial centerline, a cart, and a coupling mechanism to couple the coaxial two-wheel vehicle to the cart. The coupling mechanism 4 includes a roll rotation tolerance portion that tolerates, when a travel

The carrier vehicle includes a coaxial two-wheel vehicle including two wheels arranged on the same axial centerline, a cart, and a coupling mechanism to couple the coaxial two-wheel vehicle to the cart. The coupling mechanism 4 includes a roll rotation tolerance portion that tolerates, when a traveling direction of the coaxial two-wheel vehicle is defined as a roll axis, rotation of the coaxial two-wheel vehicle in a roll direction. Further, the coupling mechanism includes a pitch rotation tolerance portion that tolerates, when a left-and-right direction of the coaxial two-wheel vehicle is defined as a pitch axis, rotation of the coaxial two-wheel vehicle in a pitch direction.

대표청구항 ▼

1. A carrier vehicle comprising: a coaxial two-wheel vehicle comprising two wheels arranged on a same axial centerline;a cart disposed in front of the coaxial two-wheel vehicle; anda coupling mechanism to couple the coaxial two-wheel vehicle with the cart,wherein when a traveling direction is define

1. A carrier vehicle comprising: a coaxial two-wheel vehicle comprising two wheels arranged on a same axial centerline;a cart disposed in front of the coaxial two-wheel vehicle; anda coupling mechanism to couple the coaxial two-wheel vehicle with the cart,wherein when a traveling direction is defined as a roll axis, the coaxial two-wheel vehicle performs a turning action by rotating a vehicle main body in a roll direction,wherein the coupling mechanism comprises:a pin disposed in one of the coaxial two-wheel vehicle and the cart; anda pin receiving member disposed in another of the coaxial two-wheel vehicle and the cart, an insertion hole having an internal diameter larger than an external diameter of the pin being formed in the pin receiving member,wherein the pin is disposed in a roughly vertical direction; an end portion of the pin is inserted into the insertion hole of the pin receiving member; and a roll rotation tolerance portion that tolerates, not only, rotation of the vehicle main body in the roll direction, but also relative vertical sliding between the pin and the pin receiving member that occurs when the vehicle main body rotates in the roll direction, and a pitch rotation tolerance portion that tolerates, when a left-and-right direction of the coaxial two-wheel vehicle is defined as a pitch axis, not only rotation of the coaxial two-wheel vehicle in a pitch direction but also relative vertical sliding between the pin and the pin receiving member that occurs when the coaxial two-wheel vehicle rotates in the pitch direction are formed between the end potion of the pin and the insertion hole of the pin receiving member,wherein, in order to prevent the coaxial two-wheel vehicle from toppling over, the coaxial two-wheel vehicle has a pitch-tilting control state in which: when the coaxial two-wheel vehicle rotates forward from a stopped state, the coaxial two-wheel vehicle moves forwards, whereaswhen the coaxial two-wheel vehicle rotates backward from the stopped state, the coaxial two-wheel vehicle moves backward, andwherein a height of the pin is set so that the pin is removed from the pin insertion hole of the pin receiving member by rotating the coaxial two-wheel vehicle backward even further compared to a maximum backward rotational angle in the pitch-tilting control of the coaxial two-wheel vehicle, and the pin is inserted into the pin insertion hole of the pin receiving member by rotating the coaxial two-wheel vehicle forward in the pitch direction from a state where the coaxial two-wheel vehicle is rotated backward even further compared to the maximum backward rotational angle in the pitch-tilting control of the coaxial two-wheel vehicle. 2. The carrier vehicle according to claim 1, wherein the carrier vehicle comprises two sets of coupling mechanisms. 3. The carrier vehicle according to claim 1, wherein in a peripheral portion of the pin, a reactive force member is disposed between a coupling portion between the pin and the coaxial two-wheel vehicle or the cart, and the pin receiving member. 4. The carrier vehicle according to claim 3, wherein the reactive force member is a spring. 5. The carrier vehicle according to claim 1, wherein the cart is a wheeled platform,wherein the cart comprises:a base potion; anda free caster disposed on an under surface of the base portion, andwherein the pin is disposed in a rear end portion of the base portion. 6. The carrier vehicle according to claim 5, wherein a free caster disposed on a front side of the cart is disposed in the base portion in such a manner that the free caster can slide in a traveling direction of the cart with respect to the base portion. 7. The carrier vehicle according to claim 1, wherein the pin and the pin receiving member have a detachable configuration. 8. The carrier vehicle according to claim 1, wherein the insertion hole comprises a funnel portion that is tapered in an insertion direction of the pin and a cylinder-shaped through-hole. 9. The carrier vehicle according to claim 1, wherein a guide groove that guides the end portion of the pin to the insertion hole is formed in the pin receiving member. 10. The carrier vehicle according to claim 1, wherein the vehicle main body comprises left and right step plates on which left and right feet of a user are respectively placed, and the left and right step plates tilt in a roll direction of the coaxial two-wheel vehicle in a parallel state. 11. A coupling mechanism that is used when a coaxial two-wheel vehicle is coupled to a cart to form a carrier vehicle, the cart being disposed in front of the coaxial two-wheel vehicle, wherein when a traveling direction is defined as a roll axis, the coaxial two-wheel vehicle performs a turning action by rotating a vehicle main body in a roll direction,wherein the coupling mechanism comprises:a pin disposed in one of the coaxial two-wheel vehicle and the cart; anda pin receiving member disposed in another of the coaxial two-wheel vehicle and the cart, an insertion hole having an internal diameter larger than an external diameter of the pin being formed in the pin receiving member,wherein the pin is disposed in a roughly vertical direction; an end portion of the pin is inserted into the insertion hole of the pin receiving member; and a roll rotation tolerance portion that tolerates, not only, rotation of the vehicle main body in the roll direction, but also relative vertical sliding between the pin and the pin receiving member that occurs when the vehicle main body rotates in the roll direction, and a pitch rotation tolerance portion that tolerates, when a left-and-right direction of the coaxial two-wheel vehicle is defined as a pitch axis, not only rotation of the coaxial two-wheel vehicle in a pitch direction but also relative vertical sliding between the pin and the pin receiving member that occurs when the coaxial two-wheel vehicle rotates in the pitch direction are formed between the end potion of the pin and the insertion hole of the pin receiving member,wherein, in order to prevent the coaxial two-wheel vehicle from toppling over, the coaxial two-wheel vehicle has a pitch-tilting control state in which: when the coaxial two-wheel vehicle rotates forward from a stopped state, the coaxial two-wheel vehicle moves forwards, whereaswhen the coaxial two-wheel vehicle rotates backward from the stopped state, the coaxial two-wheel vehicle moves backward, andwherein a height of the pin is set so that the pin is removed from the pin insertion hole of the pin receiving member by rotating the coaxial two-wheel vehicle backward even further compared a maximum backward rotational angle in the pitch-tilting control of the coaxial two-wheel vehicle, and the pin is inserted into the pin insertion hole of the pin receiving member by rotating the coaxial two-wheel vehicle forward in the pitch direction from a state where the coaxial two-wheel vehicle is rotated backward even further compared to the maximum backward rotational angle in the pitch-tilting control of the coaxial two-wheel vehicle. 12. A carrier vehicle comprising: a coaxial two-wheel vehicle comprising two wheels arranged on a same axial centerline;a cart; anda coupling mechanism to couple the coaxial two-wheel vehicle with the cart, wherein the coupling mechanism comprises:a pin disposed in one of the coaxial two-wheel vehicle and the cart; anda pin receiving member disposed in another of the coaxial two-wheel vehicle and the cart, an insertion hole having an internal diameter larger than an external diameter of the pin being formed in the pin receiving member,wherein the pin is disposed in a roughly vertical direction; an end portion of the pin is inserted into the insertion hole of the pin receiving member; and a roll rotation tolerance portion that tolerates, not only, rotation of a vehicle main body in the roll direction, but also relative vertical sliding between the pin and the pin receiving member that occurs when the vehicle main body rotates in the roll direction, and a pitch rotation tolerance portion that tolerates, when a left-and-right direction of the coaxial two-wheel vehicle is defined as a pitch axis, not only rotation of the coaxial two-wheel vehicle in a pitch direction but also relative vertical sliding between the pin and the pin receiving member that occurs when the coaxial two-wheel vehicle rotates in the pitch direction are formed between the end potion of the pin and the insertion hole of the pin receiving member,wherein the insertion hole comprises a funnel portion that is tapered in an insertion direction of the pin and a cylinder-shaped through-hole disposed on an insertion direction side of the pin with respect to the funnel portion, the cylinder-shaped through-hole continuously extending to the funnel portion, andwherein a surface located on one of the coaxial two-wheel vehicle side and the cart side in the pin receiving member vertically extends and continuously extends to the funnel portion, and comprises a guide groove that guides an end portion of the pin to the through-hole through the funnel portion.