CN104349917A - 可扩展轮子组件的多轴后倾角控制*** - Google Patents
可扩展轮子组件的多轴后倾角控制*** Download PDFInfo
- Publication number
- CN104349917A CN104349917A CN201280073718.2A CN201280073718A CN104349917A CN 104349917 A CN104349917 A CN 104349917A CN 201280073718 A CN201280073718 A CN 201280073718A CN 104349917 A CN104349917 A CN 104349917A
- Authority
- CN
- China
- Prior art keywords
- wheel assembly
- axis
- wheel
- casterangle
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
- B60G17/0163—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking the control involving steering geometry, e.g. four-wheel steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/46—Indexing codes relating to the wheels in the suspensions camber angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/464—Caster angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/127—Mounting of springs or dampers with the mounting of springs or dampers moving so that the direction of the related force vector can be changed, thus contributing to a variation of the loading of the wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/128—Damper mount on vehicle body or chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/423—Rails, tubes, or the like, for guiding the movement of suspension elements
- B60G2204/4232—Sliding mounts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/62—Adjustable continuously, e.g. during driving
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/37—Vehicles having steerable wheels mounted on a vertically moving column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/40—Variable track or wheelbase vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0514—Wheel angle detection
- B60G2400/05146—Wheel caster
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/96—ASC - Assisted or power Steering control
- B60G2800/962—Four-wheel steering
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Body Structure For Vehicles (AREA)
Abstract
用于交通工具的轮子组件,包括:-轮子(10),-至少一个下悬架连杆(20)和一个上部(30),所述轮子(10)布置为围绕枢轴线(90)以360°进行旋转以引导交通工具,所述枢轴线(90)在垂直投影面上的投影包括穿过在轮子(10)和地面(100)之间的接触点的垂直轴线,与所述垂直轴线一起界定后倾角,该轮子组件包括:-布置成调整后倾角(α)的后倾角调整装置(35),其特征在于,所述上部(30)的位置相对于交通工具沿第一自由度和第二自由度是可移动的。
Description
本发明涉及具有可调整的后倾角的轮子组件以及包括至少两个这种轮子组件的交通工具。
文件WO2010/150286描述了具有五个全向轮子组件的交通工具。这种交通工具可以通过移动轮子支架来调整其高度,但该高度调整是在轴水平上完成的,以至于该***复杂并且前端或后端将会移动,以至于在弯道中的稳定性没有改善。还应当注意到,由于升高的重心,高度的增加将导致失去稳定性,并且乘员的安全性可能受到损害。
文件WO 2011/147648描述了具有有着可调整的后倾角的轮子组件的交通工具。然而,该文件中公开的***被限制到在有限范围的数值内调整后倾角。
本发明目的是解决这些上述缺点并且意在首先提出一种能够提供改进的后倾角调整的全向轮子组件,以便在转弯时、在斜坡上且如果交通工具高度提高的话,提高稳定性。
记住该目标,本发明的第一个方面是用于交通工具的轮子组件,包括:
-轮子,
-至少一个下悬架连杆和一个上部,二者都布置成连接至交通工具,
轮子被布置为一旦连接至交通工具就围绕由所述至少一个下悬架连杆和所述上部定位的枢轴线旋转360°,以引导交通工具,
枢轴线在垂直投影面上的投影包括穿过在轮子和地面之间的接触点的垂直轴线,与所述垂直轴线一起界定后倾角,
该轮子组件包括:
-后倾角调整装置,其布置成不管投影面的定向如何,都在预定范围内调整所述后倾角,
其特征在于,上部的位置相对于交通工具沿第一自由度和第二自由度是可移动的,并且所述后倾角调整装置布置成沿第一自由度和第二自由度控制所述上部的位置。
由于该上部具有两个自由度,根据本发明的轮子组件为现有技术的***提供了改进。后倾角的调整可通过沿该两个自由度独立地移动该上部来完成,以便该***提供更多调整后倾角的可能性。换言之,枢轴线可凭借两个自由度定位,以不仅调整后倾角,而且当有必要保持行驶安全状况时增加轨道的宽度。
有利地,第一自由度和第二自由度是沿包含在垂直于枢轴线的平面内的两个轴线的两个平移。本实施方案提供了以X-Y***在位于由该两个轴线定义的正方形、长方形或任何其它种类的区域中的任何点定位上部的可能性。这样的X-Y调整***通过沿一个轴线或另外一个轴线,或者同时沿两个轴线移动上部,可灵活定位上部。理想地,两个轴线是垂直的。
有利地,后倾角调整装置包括形成两个轴线的第一螺钉和第二螺钉,第一螺钉布置成连接至交通工具并控制第一可移动螺母沿其轴线的位置,第二螺钉连接至第一可移动螺母并控制第二可移动螺母沿其轴线的位置,上部连接至第二可移动螺母。具有螺钉-螺母组件的该实施方案对于设置上部沿着轴线的所需要位置是有效率和稳健的。
理想地,后倾角调整装置包括两个电马达,并且第一和第二螺钉各自连接至布置成控制第一和第二可移动螺母的位置的所述电马达中的一个电马达。该实施方案的电马达允许上部精确、快捷并且动态地定位至所要求的位置。
作为一个可选方案,后倾角调整装置包括两个气动马达,并且第一和第二螺钉各自连接至布置成控制第一和第二可移动螺母的位置的所述气动马达中的一个气动马达。与电马达相比,如果交通工具配备有压缩空气分配装置,则气动马达可能是成本效率高的解决方案。
作为第一实施方案的可选方案,第一自由度是围绕平行于枢轴线的轴线的转动,并且第二自由度是平行于枢轴线的平移。该实施方案利用了具有位于下悬架连杆处的球形接头的结构布置:平行于枢轴线的平移改变了臂杠杆,以便改变后倾角。
有利地,后倾角调整装置包括偏心箱(eccentric case):
-被连接至交通工具,
-布置成围绕平行于枢轴线的所述轴线转动,
-在距平行于枢轴线的所述轴线的偏心距处具有连接至上部的连接部,以及
-布置成相对于连接至上部的所述连接部在平行于枢轴线的平移方向滑动。
有利地,后倾角调整装置包括布置成在偏心箱和上部之间形成该连接部的杠杆,该杠杆具有布置成连接至交通工具的支点,并且支点布置在偏心箱和上部之间。由于支点布置在偏心箱和上部之间,根据本发明的该实施方案的该额外的杠杆放大了上部的位移。该实施方案减小了偏心箱平行于枢轴线的必要平移以得到导致后倾角的显著调整的上部的明显位移。
有利地,轮子组件布置成相对于行驶条件调整后倾角。后倾角关于取决于转角、速度、路面抓地力等的行驶条件进行调整以增强稳定性。换言之,如果交通工具改变方向,后倾角调整至特定值,如果交通工具必须进行紧急减速等,后倾角调整至其它特定值。
有利地,轮子组件包括长度调整装置,该长度调整装置布置成相对于调整的后倾角调整上部连接点和接触点之间的距离,该接触点在轮子和地面之间。根据本实施方案的该长度调整装置允许关于行驶条件来改变交通工具主体的高度。换言之,当交通工具行驶在柏油路上时,高度可设置在最小值,但是当道路上有水(洪水状况)时或者当有要越过的物体时,交通工具的高度可提高(例如多达1米或更多)。外部的和内部的驱动组件在弯道和转弯时的扩展调整可以“倾斜效应(banking effect)”补偿对乘客的离心力。这种在轮子组件层级独立调整高度的方式避免了铰接舱室以实现该倾斜效应的需要,并且交通工具结构更简单并且对于倾斜底盘更具有高成本效率。
有利地,长度调整装置布置成相对于轮子围绕枢轴线的转动来调整距离。当交通工具方向变化时,交通工具的稳定性增加。控制命令由在交通工具层级处调整轮子组件的集成的主动控制***操作,以在发送命令以调整各个轮子组件的后倾角和长度之前,计算与行驶条件(速度、转角、紧急停车、和道路坡度)相关的所有相关数据。
本发明的另一个方面是轮子组件,包括:
-在轮子轴线和枢轴线之间的铰接部(articulation),以及
-外倾角调整装置,其布置成允许调整在轮子轴线和水平线之间的外倾角,以补偿上部沿其任何自由度的位置的调整的影响。该实施方案提供了将影响外倾角的枢轴线的倾斜的补偿。由于当枢轴线倾斜时,甚至当枢轴线倾斜以将轮子从交通工具底盘***移出时外倾角被修正,所以轮胎上的应力也不会增加。换言之,如果交通工具的高度增加以至于稳定性受到损害,该枢轴线倾斜以增加导致轮子远离彼此移动的轨道。在极端的情况下,轮子可以以五十厘米或更远远离彼此移动,并且外倾角将被极大改变。凭借外倾角调整装置和轮子轴线与枢轴线之间的铰接部,不管枢轴线的倾斜和后倾角如何,外倾角可被调整以保持在预定范围。
本发明还涉及包括至少一个根据本发明第一方面的轮子组件的交通工具,并且其中后倾角相对于行驶条件进行调整。
从下面的本发明的由附图所示的特定的非限制性例子的详细描述,本发明的其它特征和优点将显得更清楚,其中:
-图1表示根据本发明的轮子组件的侧视图;
-图2表示图1中的轮子组件的正视图;
-图3表示图1中设置在第一长度的轮子组件;
-图4表示图1中设置在第二长度的轮子组件;
-图5表示本发明的另一实施方案的正视图。
图1所描绘的轮子组件包括轮子10,轮子10布置为响应于来自于与齿轮96接合的电驱动装置(未示出)的指令而围绕枢轴线90旋转。轮子组件布置成在上部30和下部悬架臂20之间连接至交通工具。上部30布置成相对于交通工具可移动并具有两个自由度。这两个自由度是沿两个垂直轴线31和32的平移。轮子组件装有后倾角调整装置35,该后倾角调整装置35布置为利用螺钉-螺母组件控制上部30沿两个垂直轴线31和32的位置,以便通过在两个垂直方向移动上部连接部30的位置来精确调整轮子组件的后倾角。两个板100是交通工具底盘的一部分,以给由两个螺钉-螺母组件执行的移动提供参考。螺钉32连接至板100并从而布置成在如上部30上的双箭头所示的其方向上移动上部30。轮子组件包括悬挂装置50并且还包括将在下面段落中针对于图3和4进行详细说明的长度调整装置40。轮子10可由未示出的安装在轮子组件顶部的一个电马达驱动。
图2示出了图1的轮子组的正视图。在与图1为90°的该视图中,可注意到,由于螺钉31连接至由螺钉32驱动的螺母,现在是螺钉31被布置为沿其轴线如在上部30上的双箭头所示的移动上部30。两个螺钉31和32可由电马达或者由气动马达驱动。
图3示出了图1的轮子组件的正视图。长度调整装置40设置在小的高度H1上,以便地面和上部30之间的距离小。这种布置可以对应于标准的行驶条件,例如当交通工具行驶在沥青或常规杆上时。
图4示出图1的轮子组件的正视图。长度调整装置40设置在大的高度H2上,以便地面和上部30之间的距离大。这种布置可以对应于特定的行驶条件,例如当交通工具行驶在越野条件下,或当有洪水时,以便交通工具底盘升高足以不接触水。然后,乘员可继续他们的行程。从地面提高交通工具多达至一米可能是必要的,并且稳定性可能会受到影响,但后倾角调整装置可以随后定位上部30,以便轮子之间的宽度(换言之,轨道)增加以提高交通工具的稳定性,以避免任何翻滚问题。
图5表示了根据本发明另一实施方案的轮子组件。在该特定实施方案中,铰接部60被集成在轮子轴线11和枢轴线90之间,以便两个轴线之间的角度γ是可调整的。这导致轮子轴线11和水平线12之间的外倾角β是可调整的,以补偿后倾角的调整的影响。确实,由于上部30沿两个独立自由度可移动,所以枢轴线90可被定向以便轮子10移动离开交通工具底盘的周围以提高交通工具的稳定性并且铰接部60允许外倾角的调整以避免该外倾角的过度值。
可以理解,对于本领域的技术人员来说,在由所附权利要求限定的本发明的范围内,可以进行明显的改进和/或修改。特别是,本发明提到了调整外倾角以避免轮胎压力过大的可能性,但也可考虑使用摩托车轮胎,即圆截面轮胎,以在地面和轮胎之间具有恒定的接触点,从而在极端的角度倾斜下确保连续的路面抓地力。本发明还提到沿自由度的移动是通过螺钉沿其轴线定位螺母获得的,但也可计划成通过螺母的转动来使螺钉沿其轴线可移动。换言之,可以是螺钉或螺母沿螺钉轴线是可移动的。
Claims (13)
1.一种用于交通工具的轮子组件,包括:
-轮子(10),
-至少一个下悬架连杆(20)和一个上部(30),二者都布置成连接至所述交通工具,
所述轮子(10)被布置为一旦连接至所述交通工具就围绕由所述至少一个下悬架连杆(20)和所述上部(30)定位的枢轴线(90)旋转360°,以引导所述交通工具,
所述枢轴线(90)在垂直投影面上的投影包括穿过在所述轮子(10)和地面(100)之间的接触点的垂直轴线,与所述垂直轴线一起界定后倾角,
所述轮子组件包括:
-后倾角调整装置(35),其布置成不管投影面的定向如何,都在预定范围内调整所述后倾角(α),
其特征在于,所述上部(30)的位置相对于所述交通工具沿第一自由度和第二自由度是可移动的,并且所述后倾角调整装置(35)布置成沿所述第一自由度和所述第二自由度控制所述上部(30)的位置。
2.根据权利要求1所述的轮子组件,其特征在于,所述第一自由度和所述第二自由度是沿包含在垂直于所述枢轴线的平面内的两个轴线(31,32)的两个平移。
3.根据权利要求2所述的轮子组件,其特征在于,所述后倾角调整装置(35)包括形成所述两个轴线(31,32)的第一螺钉和第二螺钉,所述第一螺钉布置成连接至所述交通工具并控制第一可移动螺母沿其轴线的位置,所述第二螺钉连接至所述第一可移动螺母并控制第二可移动螺母沿其轴线的位置,所述上部(30)连接至所述第二可移动螺母。
4.根据权利要求3所述的轮子组件,其特征在于,所述后倾角调整装置(35)包括两个电马达,并且所述第一螺钉和所述第二螺钉各自连接至布置成控制所述第一可移动螺母和所述第二可移动螺母的位置的所述电马达中的一个电马达。
5.根据权利要求3所述的轮子组件,其特征在于,所述后倾角调整装置(35)包括两个气动马达,并且所述第一螺钉和所述第二螺钉各自连接至布置成控制所述第一可移动螺母和所述第二可移动螺母的位置的所述气动马达中的一个气动马达。
6.根据权利要求1所述的轮子组件,其特征在于,所述第一自由度是围绕平行于所述枢轴线的轴线的转动,并且所述第二自由度是平行于所述枢轴线(90)的平移。
7.根据权利要求6所述的轮子组件,其特征在于,所述后倾角调整装置(35)包括偏心箱:
-被连接至所述交通工具,
-布置成围绕平行于所述枢轴线(90)的所述轴线转动,
-在距平行于所述枢轴线(90)的所述轴线的偏心距处具有连接至所述上部(30)的连接部,以及
-布置成相对于连接至所述上部(30)的所述连接部在平行于所述枢轴线(90)的平移方向滑动。
8.根据权利要求7所述的轮子组件,其特征在于,所述后倾角调整装置(35)包括布置成在所述偏心箱和所述上部(30)之间形成所述连接部的杠杆,所述杠杆具有布置成连接至所述交通工具的支点,并且所述支点布置在所述偏心箱和所述上部(30)之间。
9.根据权利要求1-8中任一项所述的轮子组件,其特征在于,所述轮子组件布置成相对于行驶条件调整所述后倾角(α)。
10.根据权利要求1-9中任一项所述的轮子组件,其特征在于,所述轮子组件包括长度调整装置(40),所述长度调整装置(40)布置成相对于调整的后倾角(α)调整所述上部连接点(30)和在所述轮子(10)和地面(100)之间的所述接触点之间的距离。
11.根据权利要求10所述的轮子组件,其特征在于,所述长度调整装置(40)布置成相对于所述轮子(10)围绕所述枢轴线(90)的转动调整所述距离。
12.根据权利要求1-11中任一项所述的轮子组件,其特征在于,所述轮子组件包括:
-在所述轮子轴线(11)和所述枢轴线(90)之间的铰接部(60),以及
-外倾角调整装置,其布置成允许调整在所述轮子轴线(11)和水平轴线(12)之间的外倾角(β),以补偿所述上部(30)沿其任何自由度的位置的调整的影响。
13.一种交通工具,包括至少一个根据权利要求1-12中任一项所述的轮子组件,其中,所述后倾角(α)相对于行驶条件进行调整。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2012/060502 WO2013182222A1 (en) | 2012-06-04 | 2012-06-04 | Multi-axis caster angle control system of an extendable wheel assembly |
Publications (1)
Publication Number | Publication Date |
---|---|
CN104349917A true CN104349917A (zh) | 2015-02-11 |
Family
ID=46208533
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201280073718.2A Pending CN104349917A (zh) | 2012-06-04 | 2012-06-04 | 可扩展轮子组件的多轴后倾角控制*** |
Country Status (12)
Country | Link |
---|---|
US (1) | US9387880B2 (zh) |
EP (1) | EP2855176A1 (zh) |
JP (1) | JP2015522464A (zh) |
KR (1) | KR20150028268A (zh) |
CN (1) | CN104349917A (zh) |
AR (1) | AR095651A1 (zh) |
BR (1) | BR112014030445A2 (zh) |
MX (1) | MX350584B (zh) |
RU (1) | RU2014151634A (zh) |
TW (1) | TW201350375A (zh) |
UY (1) | UY34846A (zh) |
WO (1) | WO2013182222A1 (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015512821A (ja) | 2012-02-27 | 2015-04-30 | ビクター ガノ,ジョン | 独立可変多車輪ステアリングと道路接触幾何学との統合システム |
GB2506944B (en) * | 2012-10-15 | 2017-02-22 | Niftylift Ltd | Base unit for a vehicle |
GB2515794B (en) * | 2013-07-04 | 2015-06-10 | Velofeet Ltd | Improvements Relating to Vehicles |
WO2018089303A1 (en) | 2016-11-10 | 2018-05-17 | Exokinetics, Inc. | Dual-state caster and method |
DE102017106826B4 (de) * | 2017-02-09 | 2020-07-23 | Schaeffler Technologies AG & Co. KG | Federbein für ein Kraftfahrzeug |
US10806106B2 (en) | 2018-04-03 | 2020-10-20 | Valmont Industries, Inc. | System, method and apparatus for providing a pull-out force compensating gearbox mount |
KR20210066533A (ko) | 2019-11-28 | 2021-06-07 | 현대자동차주식회사 | 차량용 캐스터 특성 조절장치 |
KR20220006393A (ko) | 2020-07-08 | 2022-01-17 | 현대자동차주식회사 | 차량용 캐스터 특성 조절장치 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60151181U (ja) * | 1984-03-19 | 1985-10-07 | 株式会社富士通ゼネラル | 筐体の取付機構 |
US20060017248A1 (en) * | 2004-07-22 | 2006-01-26 | Hyundai Mobis Co., Ltd. | Suspension and insulator of the same |
CN1789059A (zh) * | 2004-12-15 | 2006-06-21 | 现代自动车株式会社 | 车轮定位和车辆高度调节装置 |
KR20070014782A (ko) * | 2005-07-29 | 2007-02-01 | 현대자동차주식회사 | 맥퍼슨 스트럿 타입 서스펜션의 캐스터 각 조절장치 |
WO2011147648A1 (en) * | 2010-05-28 | 2011-12-01 | John Victor Gano | Omni-directional wheel assembly and omni-directional vehicle |
CN202186426U (zh) * | 2011-08-19 | 2012-04-11 | 上海汽车集团股份有限公司 | 汽车整车姿态和主销后倾角可调节悬架*** |
Family Cites Families (47)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR996011A (fr) | 1945-04-09 | 1951-12-12 | Véhicule automobile | |
GB1062102A (en) | 1964-08-21 | 1967-03-15 | Reginald Arthur Slay | Improvements in or relating to motor-driven wheeled vehicles |
US3404746A (en) | 1966-07-08 | 1968-10-08 | Reginald A. Slay | Motor-driven wheeled vehicles |
DE2433583C2 (de) * | 1974-07-12 | 1983-12-22 | Volkswagenwerk Ag, 3180 Wolfsburg | Aufhängung der lenkbaren Räder eines Kraftfahrzeuges |
US4213631A (en) * | 1978-06-22 | 1980-07-22 | Wilkerson Edward D | Vehicle wheel alignment adjustment device |
DE3333476A1 (de) | 1983-09-16 | 1984-12-13 | Daimler-Benz Ag, 7000 Stuttgart | Bergefahrzeug fuer omnibusse |
JPS60151181A (ja) | 1984-01-18 | 1985-08-09 | Honda Motor Co Ltd | 可変キヤスタ−装置 |
US4581802A (en) * | 1985-02-22 | 1986-04-15 | Castoe John H | Caster adjustment tool |
DE3533216A1 (de) | 1985-09-18 | 1987-03-26 | Daimler Benz Ag | Bergefahrzeug fuer spurfuehrbare fahrzeuge |
EP0246116B1 (en) * | 1986-05-16 | 1992-04-15 | Honda Giken Kogyo Kabushiki Kaisha | Camber control system for a motor vehicle |
US5072960A (en) * | 1990-02-15 | 1991-12-17 | Sterilizer Technologies Corporation | Sterilizer cart |
US5080388A (en) * | 1990-05-18 | 1992-01-14 | Specialty Products, Inc. | Wheel alignment adjustment device |
CN2078249U (zh) | 1990-06-17 | 1991-06-05 | 陈明红 | 二头可开的电动汽车 |
DE4340557C2 (de) | 1993-11-29 | 1995-09-28 | Porsche Ag | Radaufhängung |
US6024381A (en) | 1994-06-07 | 2000-02-15 | Mottola; Frederik R. | Simulator for teaching vehicle speed control and skid recovery techniques |
EP0783414B1 (en) | 1995-05-22 | 2001-04-11 | Hyundai Motor Company | A vehicle suspension system for a steerable wheel |
AUPO344896A0 (en) | 1996-11-05 | 1996-12-05 | Grant, Brendan Joel | Eze the modular multifunction electric vehicle |
CN1184744A (zh) | 1996-12-08 | 1998-06-17 | 廖华勇 | 万向行驶汽车 |
FR2763300A1 (fr) * | 1997-05-16 | 1998-11-20 | Conception & Dev Michelin Sa | Vehicule comportant une suspension a variation de carrossage actif |
DE19754425A1 (de) | 1997-12-08 | 1999-06-10 | Volker H Rosenkranz | Radaufhängung für Fahrzeuge als modular montierbarer Radsatz ausgebildet |
CA2262203A1 (en) | 1998-03-10 | 1999-09-10 | Richard L. Feller | An airport plough apparatus |
IT1299420B1 (it) | 1998-04-17 | 2000-03-16 | Francesco Falchi | Dispositivo automatico per la riduzione degli effetti della forza centrifuga su autoveicoli in curva |
DE19836658A1 (de) | 1998-08-13 | 2000-03-09 | Sieben Hans Hermann | Achsanordnung für ein Fahrzeug und Verfahren zu ihrem Betrieb |
AUPP737098A0 (en) | 1998-11-30 | 1998-12-24 | Grant, Brendan Joel | A modular wheel and/or conventional wheel assembly and control system |
WO2001072572A2 (fr) * | 2000-03-27 | 2001-10-04 | Societe De Technologie Michelin | Dispositif de support d'une roue et dispositif de suspension comprenant ledit dispositif de support |
WO2002022428A2 (de) | 2000-09-16 | 2002-03-21 | Michael Prinz | Verbesserte aufhängung von gelenkten laufrädern bei fahrzeugen, insbesondere bei durch gewichtsverlagerung lenkbaren rollern |
JP3678344B2 (ja) | 2000-10-17 | 2005-08-03 | 西川化成株式会社 | アシストグリップの取付座 |
US6485038B1 (en) * | 2000-10-31 | 2002-11-26 | Ingalls Engineering Company, Inc. | Vehicle wheel angle adjusting apparatus |
US6505695B2 (en) | 2001-05-18 | 2003-01-14 | Kanazawa Institute Of Technology | Electric vehicle |
US6485223B1 (en) * | 2001-07-13 | 2002-11-26 | Maximum Motorsports | Caster-camber plate assembly |
AU2001100645A4 (en) * | 2001-12-14 | 2002-02-14 | Barnett, Matthew | Suspension kit |
US6793228B2 (en) | 2002-01-02 | 2004-09-21 | Adam Zadok | Anti-roll suspension for automobiles |
US6676145B2 (en) * | 2002-01-03 | 2004-01-13 | Meritor Light Vehicle Technology, Llc | Movable upper suspension mount |
WO2003059720A1 (en) | 2002-01-15 | 2003-07-24 | Terratronics Pty Ltd | Vehicle with integrated control of steering and wheel speed |
JP4113506B2 (ja) | 2003-09-30 | 2008-07-09 | トヨタ自動車株式会社 | 車輪支持装置 |
FR2873061B1 (fr) | 2004-07-15 | 2008-12-05 | Conception & Dev Michelin Sa | Vehicule comportant une liaison au sol assurant la suspension individuelle des roues, ainsi qu'un controle actif de la hauteur de caisse |
US7168717B2 (en) * | 2005-01-28 | 2007-01-30 | Deere & Company | High clearance vehicle suspension with twin spindles for transferring steering torque |
US7744102B2 (en) | 2005-07-09 | 2010-06-29 | Eric Shawn Bailey | Steerable carriage apparatus |
US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
JP5157305B2 (ja) | 2006-09-22 | 2013-03-06 | 日産自動車株式会社 | 車輪位置可変車両 |
US20080125938A1 (en) | 2006-11-07 | 2008-05-29 | Pierpont Brien E | Automated automobile guidance system |
WO2008138346A1 (en) * | 2007-05-10 | 2008-11-20 | Aarhus Universitet | Omni rotational driving and steering wheel |
TW200948654A (en) | 2008-05-20 | 2009-12-01 | Univ Mingchi Technology | Transmission and steering system of dual head vehicle |
WO2010150286A1 (en) | 2009-06-24 | 2010-12-29 | Ingolfur Hardarson | City car |
JP2012017093A (ja) | 2010-06-09 | 2012-01-26 | Ntn Corp | 電気自動車 |
FR2976850B1 (fr) | 2011-06-23 | 2013-07-12 | Haulotte Group | Demi-essieu, et vehicule comprenant au moins un tel demi-essieu |
JP2015512821A (ja) * | 2012-02-27 | 2015-04-30 | ビクター ガノ,ジョン | 独立可変多車輪ステアリングと道路接触幾何学との統合システム |
-
2012
- 2012-06-04 BR BR112014030445A patent/BR112014030445A2/pt not_active IP Right Cessation
- 2012-06-04 JP JP2015515394A patent/JP2015522464A/ja active Pending
- 2012-06-04 MX MX2014014892A patent/MX350584B/es active IP Right Grant
- 2012-06-04 US US14/405,480 patent/US9387880B2/en active Active
- 2012-06-04 RU RU2014151634A patent/RU2014151634A/ru unknown
- 2012-06-04 CN CN201280073718.2A patent/CN104349917A/zh active Pending
- 2012-06-04 WO PCT/EP2012/060502 patent/WO2013182222A1/en active Application Filing
- 2012-06-04 EP EP12725756.6A patent/EP2855176A1/en not_active Withdrawn
- 2012-06-04 KR KR20147037177A patent/KR20150028268A/ko not_active Application Discontinuation
- 2012-07-04 TW TW101124002A patent/TW201350375A/zh unknown
-
2013
- 2013-06-04 AR ARP130101963A patent/AR095651A1/es unknown
- 2013-06-04 UY UY34846A patent/UY34846A/es not_active Application Discontinuation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60151181U (ja) * | 1984-03-19 | 1985-10-07 | 株式会社富士通ゼネラル | 筐体の取付機構 |
US20060017248A1 (en) * | 2004-07-22 | 2006-01-26 | Hyundai Mobis Co., Ltd. | Suspension and insulator of the same |
CN1789059A (zh) * | 2004-12-15 | 2006-06-21 | 现代自动车株式会社 | 车轮定位和车辆高度调节装置 |
KR20070014782A (ko) * | 2005-07-29 | 2007-02-01 | 현대자동차주식회사 | 맥퍼슨 스트럿 타입 서스펜션의 캐스터 각 조절장치 |
WO2011147648A1 (en) * | 2010-05-28 | 2011-12-01 | John Victor Gano | Omni-directional wheel assembly and omni-directional vehicle |
CN202186426U (zh) * | 2011-08-19 | 2012-04-11 | 上海汽车集团股份有限公司 | 汽车整车姿态和主销后倾角可调节悬架*** |
Also Published As
Publication number | Publication date |
---|---|
TW201350375A (zh) | 2013-12-16 |
EP2855176A1 (en) | 2015-04-08 |
AR095651A1 (es) | 2015-11-04 |
US9387880B2 (en) | 2016-07-12 |
JP2015522464A (ja) | 2015-08-06 |
BR112014030445A2 (pt) | 2017-06-27 |
MX350584B (es) | 2017-09-11 |
RU2014151634A (ru) | 2016-08-10 |
WO2013182222A1 (en) | 2013-12-12 |
KR20150028268A (ko) | 2015-03-13 |
UY34846A (es) | 2013-12-31 |
MX2014014892A (es) | 2015-06-17 |
US20150123367A1 (en) | 2015-05-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104349917A (zh) | 可扩展轮子组件的多轴后倾角控制*** | |
US9296274B2 (en) | Integrated system of independently-variable multi-wheel steering and road contact geometry | |
CN110593541B (zh) | 整平机器人 | |
US7735574B2 (en) | Motor grader with adjustable front wheel structure | |
JP4700736B2 (ja) | 自動車型建設装置、及び建設装置の昇降カラム | |
JP2020169550A (ja) | 路面切削用の自走式道路切削機、特に大型切削機、および路面切削の方法 | |
CN103619619B (zh) | 用于车辆的转向轮组件以及包括此组件的车辆 | |
RU2601542C2 (ru) | Воздушное направляющее устройство и способ уменьшения сопротивления воздуха наземного транспортного средства | |
EP3568308B1 (en) | Vehicle suspension system | |
CN109703272A (zh) | 一种墙纸铺贴机器人 | |
CN202330970U (zh) | 激光器调节装置 | |
CN108657213A (zh) | 转向架及具有其的轨道车辆和轨道交通*** | |
CN201530672U (zh) | 轮胎式铺板起重机的大车 | |
KR101423730B1 (ko) | 속도 감응형 자동차 리어 스포일러 | |
CN219172320U (zh) | 侧转机构、显示屏组件和车辆 | |
KR20190125893A (ko) | 전동이동장치 | |
US20240149962A1 (en) | Ground milling machine, in particular road milling machine, stabilizer or recycler, method for moving a ground milling machine in a direction up to 90° transverse to a longitudinal machine direction and method for positioning a ground milling machine for maintenance works and/or for transport | |
CN219216497U (zh) | 高度调节装置和输送*** | |
JP2001180899A (ja) | 高所作業車の安全装置 | |
CN212099047U (zh) | 舵轮装置和运载车 | |
CN116621091A (zh) | 高空作业车 | |
JP2023106726A (ja) | 重心調整装置および垂直昇降型高所作業車 | |
KR101549694B1 (ko) | 전동식 파워 스티어링 지지장치 | |
JPH0455050Y2 (zh) | ||
JP2005053652A (ja) | 高所作業車の車輪地切り検出装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
WD01 | Invention patent application deemed withdrawn after publication | ||
WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150211 |