JP6817326B2 - 昇降装置、昇降装置用平衡システム、車両及びその制御方法 - Google Patents
昇降装置、昇降装置用平衡システム、車両及びその制御方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60G21/007—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces means for adjusting the wheel inclination
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- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/30—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element in combination with another movement of the element
- B60P1/34—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element in combination with another movement of the element the other movement being raising or lowering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F5/00—Mobile jacks of the garage type mounted on wheels or rollers
- B66F5/04—Mobile jacks of the garage type mounted on wheels or rollers with fluid-pressure-operated lifting gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
- E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
- E01B27/13—Packing sleepers, with or without concurrent work on the track
- E01B27/16—Sleeper-tamping machines
- E01B27/17—Sleeper-tamping machines combined with means for lifting, levelling or slewing the track
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/413—Hydraulic actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/02—Trucks; Load vehicles
- B60G2300/022—Fork lift trucks, Clark
-
- 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
- B60G2400/0511—Roll angle
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- 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
- B60G2400/0512—Pitch angle
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- 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
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- 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
- B60G2400/60—Load
-
- 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
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- 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
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/12—Vehicles adapted to transport, to carry or to comprise special loads or objects for salvaging damaged vehicles
- B60P3/125—Vehicles adapted to transport, to carry or to comprise special loads or objects for salvaging damaged vehicles by supporting only part of the vehicle, e.g. front- or rear-axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
- B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Soil Working Implements (AREA)
- Operation Control Of Excavators (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
- Catching Or Destruction (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Description
関連出願の相互参照
本願は、2016年4月8日出願の米国仮出願番号第62/320280号の優先権を主張する出願であり、参照により当該仮出願の全体が本願に援用される。
(1)ブーム動作モード中は、第1平衡アセンブリ及び上記第2平衡アセンブリに対し能動的制御を行い、第1ピッチ角調整、第1ロール角調整、第2ピッチ角調整、及び第2ロール角調整を上記動作データに基づいて調節して車台を水平に維持し、
(2)運転モード中は、第1平衡アセンブリに対し能動的制御を行って、第1ピッチ角調整及び第1ロール角調整を動作データに基づいて調節し、第2平衡アセンブリに対し受動的制御を行って、第2平衡アセンブリが自由に浮き上がるようにするよう構成されている。
(1)プラットホームの許容積載量を、600ポンド以上とする:
(2)プラットホームの高さを46.5フィート以上にする:
(3)水平方向の到達可能距離を39フィート以上にする:
(4)プラットホームを180°以上回転させる:
(5)ブームを360°旋回させる:
(6)時速4.5マイル以上の運転速度を実現する:
(7)45°以上の登坂能力を実現する:
(8)回転半径を16フィート以下に抑える:
(9)可変最低地上高を、6インチ未満から22インチ超とすることができる:及び/又は
(10)車台のピッチ角及びロール角を±10°以上とすることができる。なお、利点はこれらに限られない。
Claims (22)
- 前端部及び後端部を有する車台と、
上記車台の後端部に連結された後側平衡アセンブリと、
上記車台の前端部に連結された前側平衡アセンブリとを備える昇降装置であって、
上記後側平衡アセンブリは、
第1後側アクチュエータと、
第2後側アクチュエータとを備え、
上記第1後側アクチュエータ及び上記第2後側アクチュエータは、上記後側平衡アセンブリの後側ピッチ角調整及び後側ロール角調整に対する能動的制御を容易にするように選択的に連動可能であり、
上記前側平衡アセンブリは、
第1前側アクチュエータと、
第2前側アクチュエータとを備え、
上記第1前側アクチュエータ及び上記第2前側アクチュエータは、上記前側平衡アセンブリの前側ピッチ角調整及び前側ロール角調整に対する受動的制御を容易にするように選択的に流体接続可能であり、上記前側平衡アセンブリの上記前側ピッチ角調整及び上記前側ロール角調整に対する能動的制御を容易にするように選択的に流体接続を切断可能である
ことを特徴とする昇降装置。 - 請求項1に記載の昇降装置において、
上記後側平衡アセンブリ及び上記前側平衡アセンブリのそれぞれは、上記車台に回動自在に連結された支持アームと、該支持アームに回動自在に連結された車軸とを備える
ことを特徴とする昇降装置。 - 請求項2に記載の昇降装置において、
上記支持アームは、支持アーム回動接続部を規定し、
上記車軸は、上記支持アーム回動接続部と係合するように配置された車軸回動接続部を規定し、
上記支持アーム回動接続部及び上記車軸回動接続部は、協働して固定部材を受容して、上記車軸を上記支持アームに回動自在に連結するように構成されている
ことを特徴とする昇降装置。 - 請求項3に記載の昇降装置において、
上記支持アームは、
上記支持アームを上記車台の下端に回動自在に連結する車台回動接続部を規定する基部と、
上記支持アーム回動接続部を規定する突出部と、
上記突出部が上記基部よりも上方に位置するように、上記基部と上記突出部との間に斜めに延びる移行部とを備える
ことを特徴とする昇降装置。 - 請求項1から4のいずれか1項に記載の昇降装置において、
上記前側平衡アセンブリは、上記第1前側アクチュエータ及び上記第2前側アクチュエータを選択的に高圧流体供給源から切り離すことと、上記第1前側アクチュエータを上記第2前側アクチュエータに選択的に流体接続することとの、少なくとも一方を容易にするよう配置された1つ又は複数のバルブをさらに備える
ことを特徴とする昇降装置。 - 請求項1から5のいずれか1項に記載の昇降装置において、
上記第1前側アクチュエータ及び上記第2前側アクチュエータは、運搬モード中は、選択的に流体接続が切断され、上記前側平衡アセンブリが能動的制御を受けて上記前側ピッチ角調整及び上記前側ロール角調整を行うよう構成されている
ことを特徴とする昇降装置。 - 請求項6に記載の昇降装置において、
上記第1前側アクチュエータ、上記第2前側アクチュエータ、上記第1後側アクチュエータ、及び上記第2後側アクチュエータは、運搬モード中は、昇降装置の全高を目標高さまで下げるよう構成されている
ことを特長とする昇降装置。 - 請求項1から7のいずれか1項に記載の昇降装置において、
上記第1前側アクチュエータ及び上記第2前側アクチュエータは、較正モード中は、選択的に流体接続が切断され、上記前側平衡アセンブリが能動的制御を受けて上記前側ピッチ角調整及び上記前側ロール角調整を行うよう構成されている
ことを特徴とする昇降装置。 - 請求項8に記載の昇降装置において、
上記第1前側アクチュエータ、上記第2前側アクチュエータ、上記第1後側アクチュエータ、及び上記第2後側アクチュエータは、上記較正モード中は、基準位置まで復帰して、上記昇降装置のセンサの基準設定を容易にするよう構成されている
ことを特長とする昇降装置。 - 請求項9に記載の昇降装置において、
上記センサは、変位センサ、ロール角センサ、ピッチ角センサ、及び荷重センサのうちの少なくとも1つを含む
ことを特徴とする昇降装置。 - 請求項1から10のいずれか1項に記載の昇降装置において、
上記車台に回動自在に連結されたブームをさらに備え、
上記第1前側アクチュエータ及び上記第2前側アクチュエータは、ブーム動作モード中は、選択的に流体接続が切断され、上記前側平衡アセンブリが能動的制御を受けて上記前側ピッチ角調整及び上記前側ロール角調整を行うよう構成されている
ことを特徴とする昇降装置。 - 請求項11に記載の昇降装置において、
上記ブーム動作モード中は、上記昇降装置の速度が制限されるように構成されている
ことを特徴とする昇降装置。 - 請求項11に記載の昇降装置において、
上記第1前側アクチュエータ、上記第2前側アクチュエータ、上記第1後側アクチュエータ、及び上記第2後側アクチュエータは、上記ブーム動作モード中に上記ブームが使用されている間は、能動的制御を受けるよう構成されている
ことを特長とする昇降装置。 - 請求項1から13のいずれか1項に記載の昇降装置において、
上記第1前側アクチュエータ及び上記第2前側アクチュエータは、運転モード中は、選択的に流体接続され、上記前側平衡アセンブリが上記前側ピッチ角調整及び上記前側ロール角調整の受動的制御を行うように構成されている
ことを特徴とする昇降装置。 - 請求項14に記載の昇降装置において、
ブームをさらに備え、
上記運転モード中は、上記ブームの動作が制限されるように構成されている
ことを特徴とする昇降装置。 - 昇降装置用平衡システムであって、
昇降装置の車台の第1端部に回動自在に連結するよう構成され、第1アクチュエータと第2アクチュエータとを備える第1平衡アセンブリと、
上記昇降装置の上記車台の第1端部に対向する第2端部に回動自在に連結するよう構成され、第3アクチュエータと第4アクチュエータとを備える第2平衡アセンブリとを備え、
上記第1アクチュエータ及び上記第2アクチュエータは、上記昇降装置の第1動作モード中は、受動的制御を受けるよう構成され、
上記第1アクチュエータ及び上記第2アクチュエータは、上記昇降装置の第2動作モード中は、能動的制御を受けるよう構成され、
上記第3アクチュエータ及び上記第4アクチュエータは、上記昇降装置の第1動作モード中及び/又は第2動作モード中は、能動的制御を受けるよう構成されている
ことを特徴とする平衡システム。 - 請求項16に記載の平衡システムにおいて、
上記第1アクチュエータ及び上記第2アクチュエータは、上記第1動作モード中は互いに流体接続可能であり、上記第2動作モード中は互いの流体接続が切断可能に構成されている
ことを特徴とする平衡システム。 - 請求項16又は17に記載の平衡システムにおいて、
上記第1平衡アセンブリ及び第2平衡アセンブリは、上記車台のピッチ角調整及びロール角調整を容易にするよう構成されている
ことを特徴とする平衡システム。 - 車両用平衡システムであって、
車両の車台の第1端部に回動自在に連結するよう構成された第1平衡アセンブリと、
上記車台の第1端部に対向する第2端部に回動自在に連結するよう構成された第2平衡アセンブリとを備え、
上記第1平衡アセンブリは、第1動作モード中は、受動的制御を受けて、上記第1平衡アセンブリの受動的ピッチ角調整と受動的ロール角調整を行うよう構成されており、
上記第1平衡アセンブリは、第2動作モード中は、能動的制御を受けて、上記第1平衡アセンブリの能動的ピッチ角調整と能動的ロール角調整とを行うよう構成されており、
上記第2平衡アセンブリは、上記第1動作モード中及び/又は上記第2動作モード中は、能動的制御を受けて、上記第2平衡アセンブリの能動的ピッチ角調整と能動的ロール角調整を行うよう構成されている
ことを特徴とする平衡システム。 - 請求項19に記載の平衡システムにおいて、
上記第2平衡アセンブリは、上記第1動作モード中及び上記第2動作モード中は、能動的制御を受けて、上記第2平衡アセンブリの上記能動的ピッチ角調整と上記能動的ロール角調整とを行うよう構成されている
ことを特徴とする平衡システム。 - 第1端部とこれに対向する第2端部とを備える車台と、
上記車台の第1端部に回動自在に連結された第1平衡アセンブリと、
上記車台の第2端部に回動自在に連結された第2平衡アセンブリとを備える車両であって、
上記第1平衡アセンブリは、第1動作モード中及び第2動作モード中は、能動的制御を受けて、上記第1平衡アセンブリの能動的ピッチ角調整と能動的ロール角調整とを行うよう構成されており、
上記第2平衡アセンブリは、上記第1動作モード中は、受動的制御を受けて、上記第2平衡アセンブリの受動的ピッチ角調整と受動的ロール角調整を行うよう構成されており、
上記第2平衡アセンブリは、上記第2動作モード中は、能動的制御を受けて、上記第2平衡アセンブリの能動的ピッチ角調整と能動的ロール角調整とを行うよう構成されている
ことを特徴とする車両。 - 昇降装置用平衡システムの制御方法であって、
第1端部とこれに対向する第2端部とを有する車台と、上記車台の第1端部に連結された第1アクチュエータと、上記車台の第1端部に連結された第2アクチュエータと、上記車台の第2端部に連結された第3アクチュエータと、上記車台の第2端部に連結された第4アクチュエータとを備える昇降装置であって、第1から第4アクチュエータのそれぞれが牽引要素を上記車台に連結する、昇降装置を準備することと、
上記第1から第4アクチュエータのうちの少なくとも2つのアクチュエータを流体接続して、上記少なくとも2つのアクチュエータが自由に浮き上がるようにすることと、
上記第1から第4アクチュエータのうちの上記少なくとも2つのアクチュエータの流体接続を切断して、上記少なくとも2つのアクチュエータに対し能動的制御を行うこととを含み、
上記各牽引要素は、上記車台が規定する長手方向軸及び上記車台が規定する横方向軸について位置変更可能であり、上記第1から第4アクチュエータが上記長手方向軸の周りのロール角調整と上記横方向軸の周りのピッチ角調整を容易にするよう構成されている
ことを特徴とする制御方法。
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CN109071193A (zh) | 2018-12-21 |
CA3017940A1 (en) | 2017-10-12 |
US20170291805A1 (en) | 2017-10-12 |
US20190185301A1 (en) | 2019-06-20 |
AU2017248349A2 (en) | 2018-11-29 |
CN109071193B (zh) | 2020-07-17 |
AU2017248349B2 (en) | 2021-11-11 |
US20210395058A1 (en) | 2021-12-23 |
US20170291802A1 (en) | 2017-10-12 |
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R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |