Patent ID: 9505459
Filing Date: 2016-11-29
CPC Classification: B62K

Claim Text:
1. An inverted pendulum vehicle including a main wheel adapted to move forward, rearward, in a left direction and in a right direction and a vehicle body frame supported by the main wheel, the inverted pendulum vehicle comprising: a sub-wheel arm vertically turnably supported on the vehicle body frame; and a sub-wheel supported by the sub-wheel arm and grounded; wherein the sub-wheel is supported through a deformable biasing device, the sub-wheel being biased into a predetermined position in relation to the sub-wheel arm; the biasing device deforms to ground at least part of the sub-wheel arm when a downward load is exerted on the sub-wheel arm; the sub-wheel arm includes a first sub-wheel arm supported on the vehicle body frame so as to be turnable about an axis substantially parallel to an axis of rotation of the main wheel and a second sub-wheel arm supported on the first sub-wheel arm so as to be turnable about an axis substantially parallel to the axis of rotation of the main wheel within a predetermined turning range; the biasing device is a spring provided between the first sub-wheel arm and the second sub-wheel arm, the spring biasing an end portion of the second sub-wheel arm on a sub-wheel side toward a floor surface side in relation to an end portion of the second sub-wheel arm on the first sub-wheel arm side; and the sub-wheel arm includes a bendable rotary joint portion that bendably connects the first and second sub-wheel arms to each other, and the biasing device biases the rotary joint portion into a predetermined angle.