NL2017105B1 - Vehicle - Google Patents

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Publication number
NL2017105B1
NL2017105B1 NL2017105A NL2017105A NL2017105B1 NL 2017105 B1 NL2017105 B1 NL 2017105B1 NL 2017105 A NL2017105 A NL 2017105A NL 2017105 A NL2017105 A NL 2017105A NL 2017105 B1 NL2017105 B1 NL 2017105B1
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NL
Netherlands
Prior art keywords
frame
vehicle
drive
rotation
displacement
Prior art date
Application number
NL2017105A
Other languages
Dutch (nl)
Inventor
Van Den Berg Karel
Daniël Van Den Hof Wouter
Johannes Wilhelmus Van Paassen Nicolaas
Original Assignee
Lely Patent Nv
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Lely Patent Nv filed Critical Lely Patent Nv
Priority to NL2017105A priority Critical patent/NL2017105B1/en
Application granted granted Critical
Publication of NL2017105B1 publication Critical patent/NL2017105B1/en

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Classifications

    • 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
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B62D7/026—Steering linkage; Stub axles or their mountings for pivoted bogies characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention provides a vehicle, comprising: - a first frame, - three or more displacement units configured to displace the vehicle in a drive direction, wherein each displacement unit is rotatably mounted about a substantially vertical displacement unit axis to the first frame to allow adjustment of the drive direction, - a second frame, wherein the second frame is rotatably mounted about a substantially vertical second frame axis to the first frame, - a drive device configured to drive the displacement units to move the vehicle in the drive direction, and - a rotation device configured to rotate the second frame with respect to the first frame and to rotate at the same time the three or more displacement units simultaneously to adjust the drive direction such that an angle of orientation of the second frame and the drive direction remain equal to each other.

Description

OctrooicentrumPatent center

NederlandThe Netherlands

Figure NL2017105B1_D0001

Θ 2017105 (21) Aanvraagnummer: 2017105 © Aanvraag ingediend: 05/07/2016Θ 2017105 (21) Application number: 2017105 © Application submitted: 05/07/2016

BI OCTROOI (51) Int. CL:BI PATENT (51) Int. CL:

B62D 7/02 (2017.01)B62D 7/02 (2017.01)

(T) Aanvraag ingeschreven: (T) Application registered: (73) Octrooihouder(s): (73) Patent holder (s): 12/01/2018 12/01/2018 Lely Patent N.V. te Maassluis. Lely Patent N.V. in Maassluis. (43) Aanvraag gepubliceerd: (43) Application published: - - (72) Uitvinder(s): (72) Inventor (s): Karei van den Berg te Maassluis. Karei van den Berg in Maassluis. (D) Octrooi verleend: (D) Patent granted: Wouter Daniël van den Hof te Maassluis. Wouter Daniël van den Hof in Maassluis. 12/01/2018 12/01/2018 Nicolaas Johannes Wilhelmus van Paassen Nicolaas Johannes Wilhelmus van Paassen te Maassluis. in Maassluis. (45) Octrooischrift uitgegeven: (45) Patent issued: 29/01/2018 29/01/2018 (74) Gemachtigde: (74) Agent: ir. M.J.F.M. Corten te Maassluis. ir. M.J.F.M. Corten in Maassluis.

(54) VEHICLE (57) The present invention provides a vehicle, comprising:(54) VEHICLE (57) The present invention provides a vehicle, including:

- a first frame,- a first frame,

- three or more displacement units configured to displace the vehicle in a drive direction, wherein each displacement unit is rotatably mounted about a substantially vertical displacement unit axis to the first frame to allow adjustment of the drive direction,- three or more displacement units configured to displace the vehicle in a drive direction, each displacement unit being rotatably mounted about a substantial vertical displacement unit axis to the first frame to allow adjustment of the drive direction,

- a second frame, wherein the second frame is rotatably mounted about a substantially vertical second frame axis to the first frame,- a second frame, the second frame is rotatably mounted about a substantially vertical second frame axis to the first frame,

- a drive device configured to drive the displacement units to move the vehicle in the drive direction, and- a drive device configured to drive the displacement units to move the vehicle in the drive direction, and

- a rotation device configured to rotate the second frame with respect to the first frame and to rotate at the same time the three or more displacement units simultaneously to adjust the drive direction such that an angle of orientation of the second frame and the drive direction remain equal to each other.- a rotation device configured to rotate the second frame with respect to the first frame and to rotate at the same time the three or more displacement units simultaneously to adjust the drive direction such that an angle of orientation or the second frame and the drive direction remain equal to each other.

NL BI 2017105NL BI 2017105

Dit octrooi is verleend ongeacht het bijgevoegde resultaat van het onderzoek naar de stand van de techniek en schriftelijke opinie. Het octrooischrift komt overeen met de oorspronkelijk ingediende stukken.This patent has been granted regardless of the attached result of the research into the state of the art and written opinion. The patent corresponds to the documents originally submitted.

VEHICLEVEHICLE

The present invention relates to a vehicle. The vehicle is in particular designed to have a good maneuverability in order to perform tasks in a small and/or challenging space and/or to follow tortuous trajectories.The present invention relates to a vehicle. The vehicle is designed in particular to have a good maneuverability in order to perform tasks in a small and / or challenging space and / or to follow tortuous trajectories.

EP1538889 discloses a self-propelled mower comprising four displacement units each having a wheel that can be driven by a central drive actuator about a horizontal wheel axis to move the vehicle in a desired drive direction. The drive direction of the vehicle can be adjusted by rotation of the displacement units about a vertical axis. A central rotation actuator is provided to turn the displacement units about their vertical axis in order to arrange the wheels of the displacement unit in a desired drive direction.EP1538889 discloses a self-propelled mower including four displacement units each having a wheel that can be driven by a central drive actuator about a horizontal wheel axis to move the vehicle in a desired drive direction. The drive direction of the vehicle can be adjusted by rotation or the displacement units about a vertical axis. A central rotation actuator is provided to turn the displacement units about their vertical axis in order to arrange the wheels or the displacement unit in a desired drive direction.

It is an object of the invention to provide an improved vehicle having a good maneuverability, or at least to provide an alternative vehicle.It is an object of the invention to provide an improved vehicle having a good maneuverability, or at least to provide an alternative vehicle.

The present invention provides a vehicle comprising:The present invention provides a vehicle including:

- a first frame,- a first frame,

- three or more displacement units configured to displace the vehicle in a drive direction, wherein each displacement unit is rotatably mounted about a substantially vertical displacement unit axis to the first frame to allow adjustment of the drive direction,- three or more displacement units configured to displace the vehicle in a drive direction, each displacement unit being rotatably mounted about a substantial vertical displacement unit axis to the first frame to allow adjustment of the drive direction,

- a second frame, wherein the second frame is rotatably mounted about a substantially vertical second frame axis to the first frame,- a second frame, the second frame is rotatably mounted about a substantially vertical second frame axis to the first frame,

- a drive device configured to drive the displacement units to move the vehicle in the drive direction, and- a drive device configured to drive the displacement units to move the vehicle in the drive direction, and

- a rotation device configured to rotate the second frame with respect to the first frame and to rotate at the same time the three or more displacement units simultaneously to adjust the drive direction such that an angle of orientation of the second frame and the drive direction remain equal to each other.- a rotation device configured to rotate the second frame with respect to the first frame and to rotate at the same time the three or more displacement units simultaneously to adjust the drive direction such that an angle of orientation or the second frame and the drive direction remain equal to each other.

The advantage of the vehicle of the invention is that when the displacement units are simultaneously rotated about their respective vertical axis to adjust the drive direction to a desired direction of movement, at the same time the second frame is rotated about its vertical axis over the same angle of rotation. This means that the second frame is continuously aligned with the driving direction of each of the displacement units and therewith the vehicle.The advantage of the vehicle of the invention is that when the displacement units are simultaneously rotated about their respective vertical axis to adjust the drive direction to a desired direction of movement, at the same time the second frame is rotated about its vertical axis over the same angle of rotation. This means that the second frame is continuously aligned with the driving direction or each of the displacement units and therewith the vehicle.

The second frame may be any structure or arrangement that is rotatably supported by the first frame. The second frame is typically used to support a functional device. A functional device is a device configured to perform a specific task. Such functional device may for example be a navigational device, such as a camera. Since the second frame rotates together with the displacement units about the respective vertical axes, the viewing direction of the camera is continuously held in the driving direction.The second frame may be any structure or arrangement that is rotatably supported by the first frame. The second frame is typically used to support a functional device. A functional device is a device configured to perform a specific task. Such a functional device may be a navigational device, such as a camera. Since the second frame rotates together with the displacement units about the respective vertical axes, the viewing direction of the camera is continuously hero in the driving direction.

The functional device may also be any other device, in particular a device configured to perform a task in a certain functional direction, i.e. a direction in which a task is performed or a measurement is made.The functional device may also be any other device, in particular a device configured to perform a task in a certain functional direction, i.e. a direction in which a task is performed or a measurement is made.

The functional device may for instance be a sensor having a measurement direction, or a part of an agricultural device configured to perform an agricultural related task such as mowing or sowing or to feed animals with specific feed.The functional device may be a sensor having a measurement direction, or a part of an agricultural device configured to perform an agricultural related task such as mowing or sowing or to feed animals with specific feed.

The vehicle may be part of a robot device configured to perform tasks in industrial or domestic environment.The vehicle may be a part of a robot device configured to perform tasks in an industrial or domestic environment.

The first frame is configured to be connected to the displacement units and may be a base frame or lower frame of the vehicle. The second frame may be a top frame of the vehicle, i.e. a frame supported on top of the first frame, whereby the top frame is rotatably mounted on the lower frame.The first frame is configured to be connected to the displacement units and may be a base frame or lower frame of the vehicle. The second frame may be a top frame of the vehicle, i.e. a frame supported on top of the first frame, the top frame is rotatably mounted on the lower frame.

The substantially vertical displacement unit axes of the three or more displacement units are preferably arranged on a circumference of a circle, wherein the substantially vertical second frame axis is arranged in the center of the circle. In such embodiment, the second frame will maintain a center position with respect to the displacement units, independent of the angle of rotation of the displacement units. Preferably, the vehicle has a substantially symmetrical construction about the substantially vertical second frame axis.The substantially vertical displacement unit axes of the three or more displacement units are preferably arranged on a circumference of a circle, the substantially vertical second frame axis is arranged in the center of the circle. In such an embodiment, the second frame will maintain a center position with respect to the displacement units, independent of the angle or rotation of the displacement units. Preferably, the vehicle has a substantially symmetrical construction about the substantially vertical second frame axis.

The displacement units are preferably rotatable about a large angle of rotation, for example 360 degrees or more. However, smaller angles of rotation may also be applied. For example an angle of rotation of the displacement units of 180 degrees is, when the displacement units can be driven in two directions, sufficient to drive the vehicle in any desired direction. The angle of rotation of the second frame with respect to the first frame should be at least as large and preferably correspond with the angle of rotation of the displacement units to ensure that the rotation of the displacement units can be followed by the second frame.The displacement units are preferably rotatable about a large angle of rotation, for example 360 degrees or more. However, narrower angles or rotation may also be applied. For example an angle of rotation of the displacement units or 180 degrees, when the displacement units can be driven in two directions, sufficient to drive the vehicle in any desired direction. The angle of rotation of the second frame with respect to the first frame should be at least as large and preferably with the angle of rotation of the displacement units to ensure that the rotation of the displacement units can be followed by the second frame.

In an embodiment, the drive device comprises a single drive actuator, preferably mounted on the second frame, wherein the single drive actuator is drivingly connected to each displacement unit to drive the vehicle in the drive direction. One single drive actuator may be provided to drive all displacement units to move the vehicle in the driving direction.In an embodiment, the drive device comprises a single drive actuator, preferably mounted on the second frame, the single drive actuator is drivingly connected to each displacement unit in the drive direction. One single drive actuator may be provided to drive all displacement units to move the vehicle in the driving direction.

The single drive actuator may be configured to drive the displacement units in a single direction of movement, to move the vehicle in a forward direction.The single drive actuator may be configured to drive the displacement units in a single direction of movement, to move the vehicle in a forward direction.

The single drive actuator may also be configured to drive the displacement units in a first direction of movement and a second opposite direction of movement, such that the vehicle can be driven in a forwards and a backwards direction without the need of rotating the displacement units over an angle of 180 degrees.The single drive actuator may also be configured to drive the displacement units in a first direction of movement and a second opposite direction of movement, such that the vehicle can be driven in a forwards and a backwards direction without the need of rotating the displacement units over an angle of 180 degrees.

The single drive actuator is preferably an electric motor, may also be any other type of suitable actuator, for example a hydraulic or pneumatic actuator.The single drive actuator is preferably an electric motor, may also be any other type of suitable actuator, for example a hydraulic or pneumatic actuator.

In an embodiment, drive elements are provided between the drive actuator and the displacement units. These drive elements provide a connection between the single drive actuator and the displacement units to drive the vehicle. The drive elements may for example be drive cables or belts mounted on pulleys provided on the second frame and the displacement units. The pulley mounted on the second frame is preferably free to rotate with respect to the second frame.In an embodiment, drive elements are provided between the drive actuator and the displacement units. These drive elements provide a connection between the single drive actuator and the displacement units to drive the vehicle. The drive elements may for example be drive cables or belts mounted on pulleys provided on the second frame and the displacement units. The pulley mounted on the second frame is preferably free to rotate with respect to the second frame.

Any other suitable type of mechanical drive connection between drive actuator and the displacement units, such as cardan shafts, a gear assembly or endless chains, may also be used. The gear assembly may for example comprise a series of gearwheels engaged with each other, or a large central gearwheel engaged with gear wheels of each of the displacement units.Any other suitable type of mechanical drive connection between drive actuator and displacement units, such as cardan shafts, a gear assembly or endless chains, may also be used. The gear assembly may include a series of gear wheels engaged with each other, or a large central gear wheel engaged with gear wheels or each of the displacement units.

In an embodiment, each displacement unit comprises a wheel arranged in the drive direction and rotatably mounted about a wheel axis. Preferably, the wheel axis and the substantially vertical displacement unit axis intersect, in particular in or near a midplane of the wheel to facilitate rotation of the displacement unit at a stationary position.In an embodiment, each displacement unit comprises a wheel arranged in the drive direction and rotatably mounted about a wheel axis. Preferably, the wheel axis and the substantially vertical displacement unit axis intersect, in particular in or near a midplane or the wheel to facilitate rotation of the displacement unit at a stationary position.

The wheel axis may extend in a substantially horizontal direction, but may also be arranged at any other suitable angle with respect to the horizontal plane, for example in a range of +/- 45 degrees with respect to the horizontal plane, preferably in a range of +/- 30 degrees with respect to the horizontal plane.The wheel axis may extend in a substantially horizontal direction, but may also be arranged at any other suitable angle with respect to the horizontal plane, for example in a range or +/- 45 degrees with respect to the horizontal plane, preferably in a range or +/- 30 degrees with respect to the horizontal plane.

In an embodiment, each displacement unit having a wheel comprises a gearbox, in particular to transfer a rotation about a vertical axis into a rotation about the substantially horizontal wheel axis and/or to provide a gear reduction between actuator rotation speed and wheel rotation speed.In an embodiment, each displacement unit having a wheel includes a gear box, in particular to a rotation about a vertical axis into a rotation about the substantially horizontal wheel axis and / or to provide a gear reduction between actuator rotation speed and wheel rotation speed.

In alternative embodiments, the displacement unit may have any device to displace the displacement unit in the drive direction, such as a caterpillar track, a stair climbing unit or a walking mechanism.In alternative expires, the displacement unit may have any device to displace the displacement unit in the drive direction, such as a caterpillar track, a stair climbing unit or a walking mechanism.

In an embodiment, the rotation device comprises a single rotation actuator, wherein the single rotation actuator is drivingly connected to each displacement unit by the second frame. In this embodiment, the single rotation actuator is drivingly connected to the second frame in order to rotate the second frame with respect to the first frame. Further, the displacement units are drivingly connected to the second frame such that rotation of the second frame results in a simultaneous rotation of the displacement units about their respective vertical axis and about a same angle of rotation as the angle of rotation of the second frame.In an embodiment, the rotation device comprises a single rotation actuator, the single rotation actuator is drivingly connected to each displacement unit by the second frame. In this embodiment, the single rotation actuator is drivingly connected to the second frame in order to rotate the second frame with respect to the first frame. Further, the displacement units are drivingly connected to the second frame such that rotation of the second frame results in a simultaneous rotation of the displacement units about their respective vertical axis and about the same angle of rotation as the angle of rotation of the second frame.

In an embodiment, the rotation device comprises a first gearwheel arranged on the first frame, wherein a sprocket of the single rotation actuator engages the first gear wheel to rotate the second frame with respect to the first frame, and wherein for each displacement unit a second gear wheel is provided on the second frame and a third gear wheel is provided on the displacement unit, wherein each second gearwheel and third gearwheel are drivingly connected to each other by a connection device, such that rotation of the second frame about its vertical axis causes rotation of each of the displacement units about its respective vertical axis.In an embodiment, the rotation device comprises a first gearwheel arranged on the first frame, a sprocket of the single rotation actuator engages the first gear wheel to rotate the second frame with respect to the first frame, and being for each displacement unit a second gear wheel is provided on the second frame and a third gear wheel is provided on the displacement unit, each second gearwheel and third gearwheel are drivingly connected to each other by a connection device, such that rotation of the second frame about its vertical axis causes rotation of each of the displacement units about its respective vertical axis.

The connection device may be any element that is capable of transferring the rotating movement of the second frame into a rotating movement of each of the displacement units. The connection device is preferably an element that does not allow slip between the rotation of the respective displacement units and the second frame to avoid misalignment of the displacement units and second frame with respect to each other. The connection device is for example an endless chain or toothed belt, but may also be formed by a Cardan shaft or gear assembly. The gear assembly may for example comprise a series of gear wheels engaged with each other, or a large central gearwheel engaged with gearwheels of each of the displacement units.The connection device may be any element that is capable of transferring the rotating movement or the second frame into a rotating movement or each of the displacement units. The connection device is preferably an element that does not allow slip between the rotation of the respective displacement units and the second frame to avoid misalignment or the displacement units and second frame with respect to each other. The connection device is an example of an endless chain or toothed belt, but may also be formed by a Cardan shaft or gear assembly. The gear assembly may include an example of a series of gear wheels engaged with each other, or a large central gearwheel engaged with gearwheels or each of the displacement units.

In an embodiment, the second frame comprises multiple functional devices distributed around the vertical axis of rotation of the second frame. By rotation of the second frame, together with the displacement units, different functional devices can be aligned with an human, animal or object positioned next to the vehicle. Each of these functional devices may be configured to perform a different task.In an embodiment, the second frame comprises multiple functional devices distributed around the vertical axis or rotation of the second frame. By rotation of the second frame, together with the displacement units, different functional devices can be aligned with an human, animal or object positioned next to the vehicle. Each of these functional devices may be configured to perform a different task.

Thus, the vehicle can be used to drive the vehicle to a position next to the human, animal or object, and to perform a specific task after alignment of the associated functional device with the human, animal or object, by rotation of the second frame. After the specific task has been performed, the displacement units and the second frame may be rotated again to align a further functional device with the human, animal or object or to arrange the displacement units in a desired driving direction.Thus, the vehicle can be used to drive the vehicle to a position next to the human, animal or object, and to perform a specific task after alignment of the associated functional device with the human, animal or object, by rotation or the second frame . After the specific task has been performed, the displacement units and the second frame may be rotated again to align a further functional device with the human, animal or object or to arrange the displacement units in a desired driving direction.

In an embodiment, the second frame comprises a platform supporting the one or more functional devices. A platform can be used to support the one or more functional devices. In particular when the second frame is rotated about the second frame axis placed at the center of the locations of vertical axes of the displacement units, the platform can advantageously be used to align selectively one of more functional devices with a desired location next to the vehicle. The platform is preferably substantially circular whereby the substantially vertical second frame axis is arranged in the center of the substantially circular platform.In an embodiment, the second frame comprises a platform supporting the one or more functional devices. A platform can be used to support the one or more functional devices. In particular when the second frame is rotated about the second frame axis placed at the center of the locations or vertical axes of the displacement units, the platform can advantageously be used to align selectively one or more functional devices with a desired location next to the vehicle . The platform is preferably substantially circular the substantially vertical second frame axis is arranged in the center of the substantially circular platform.

The second frame preferably comprises a covering of the vehicle. The platform may be part of the covering.The second frame preferably comprises a covering of the vehicle. The platform may be part of the covering.

In an embodiment, a battery is provided on the second frame to provide energy to the drive device and/or the rotation device. When electric actuators are used to drive the displacement units and/or rotation of the displacement units and the second frame, it is desirable to provide a battery to provide energy to the drive device and/or the rotation device, respectively.In an embodiment, a battery is provided on the second frame to provide energy to the drive device and / or the rotation device. When electric actuators are used to drive the displacement units and / or the rotation of the displacement units and the second frame, it is desirable to provide a battery to provide energy to the drive device and / or the rotation device, respectively.

In an embodiment, in which a single drive actuator and a single rotation actuator are provided, which are both mounted on the second frame, it is advantageous to mount the battery also on the second frame. In such embodiment, the single drive actuator and the single rotation actuator can be directly connected to the battery without the need of complex cabling and/or connection devices that provide electric contact between two objects that are movable with respect to each other.In an embodiment, in which a single drive actuator and a single rotation actuator are provided, which are both mounted on the second frame, it is advantageous to mount the battery also on the second frame. In such an embodiment, the single drive actuator and the single rotation actuator can be directly connected to the battery without the need of complex cabling and / or connection devices that provide electrical contact between two objects that are movable with respect to each other.

An embodiment of a vehicle according to the invention will now be described in further detail, by way of example only, with reference to the accompanying drawings, in which:An embodiment of a vehicle according to the invention will now be described in further detail, by way of example only, with reference to the accompanying drawings, in which:

- Figure 1 shows a perspective view of an embodiment of the vehicle;- Figure 1 shows a perspective view of an embodiment of the vehicle;

- Figures 2 and 3 show schematic top views of the embodiment of Figure 1 in different drive directions; and- Figures 2 and 3 show schematic top views of the embodiment or Figure 1 in different drive directions; and

- Figure 4 shows a side view of the embodiment shown in Figure 2.- Figure 4 shows a side view of the embodiment shown in Figure 2.

Figure 1 shows a perspective view of an embodiment of the vehicle of the invention, generally denoted by reference numeral 1. The vehicle 1 having a first or base frame 2,Figure 1 shows a perspective view of an embodiment of the vehicle of the invention, generally denoted by reference numeral 1. The vehicle 1 having a first or base frame 2,

- three or more displacement units 4 configured to displace the vehicle in a drive direction each displacement unit 4 is rotatably mounted about a substantially vertical displacement unit axis (VDA) to the first frame 2 to allow adjustment of the drive direction (DD),- three or more displacement units 4 configured to displace the vehicle in a drive direction each displacement unit 4 is rotatably mounted about a substantial vertical displacement unit axis (VDA) to the first frame 2 to allow adjustment of the drive direction (DD),

- a second or top frame 3 rotatably mounted about a substantially vertical second frame axis (VTA) to the first frame,- a second or top frame 3 rotatably mounted about a substantially vertical second frame axis (VTA) to the first frame,

- a drive device 10 configured to drive the displacement units 4 to move the vehicle in the drive direction, and- a drive device 10 configured to drive the displacement units 4 to move the vehicle in the drive direction, and

- a rotation device 11 configured to rotate the second frame 3 with respect to the first frame 2 and to rotate at the same time the three or more displacement units 4 simultaneously to adjust the drive direction DD such that an angle of orientation of the second frame 3 and the drive direction DD remain equal to each other.- a rotation device 11 configured to rotate the second frame 3 with respect to the first frame 2 and to rotate at the same time the three or more displacement units 4 simultaneously to adjust the drive direction DD such an angle or orientation of the second frame 3 and the drive direction DD remain equal to each other.

The vehicle 1 as show in the embodiment of figures 1-4 has a first or base frame 2, a second or top frame 3 and three displacement units 4. Figure 4 shows a schematic side view of this vehicle 1.The vehicle 1 as show in the embodiment of figures 1-4 has a first or base frame 2, a second or top frame 3 and three displacement units 4. Figure 4 shows a schematic side view of this vehicle 1.

In the depicted embodiment, each displacement unit 4 comprises a wheel 5 and a gear box 6 connected to a substantially horizontal drive shaft of the wheel 5. The wheel 5 is mounted on the drive axis of the displacement unit 4 such that it can rotate about a substantially horizontal wheel axis HWA (see Figure 4) when being driven by the horizontal drive shaft.In the depicted embodiment, each displacement unit 4 comprises a wheel 5 and a gear box 6 connected to a substantial horizontal drive shaft or the wheel 5. The wheel 5 is mounted on the drive axis or the displacement unit 4 such that it can rotate about a substantially horizontal wheel axis HWA (see Figure 4) when being driven by the horizontal drive shaft.

The base frame 2 comprises three frame arms 7 each ending in a displacement unit bearing element 8 configured to receive a displacement unit 4. Each displacement unit 4 is rotatably mounted in the displacement unit bearing element 8, in which the displacement unit 4 is rotatable about a substantially vertical displacement unit axis VDA (see Figure 4). The displacement unit bearing element 8 is arranged such that the vertical displacement unit axis VDA runs through the center of the wheel 5 to allow relatively easy rotation of the wheel 5 on a ground surface, while the wheel 5 remains in substantially the same position with respect to the ground surface.The base frame 2 comprises three frame arms 7 each ending in a displacement unit bearing element 8 configured to receive a displacement unit 4. Each displacement unit 4 is rotatably mounted in the displacement unit bearing element 8, in which the displacement unit 4 is rotatable about a substantially vertical displacement unit axis VDA (see Figure 4). The displacement unit bearing element 8 is arranged such that the vertical displacement unit axis VDA runs through the center of the wheel 5 to allow relatively easy rotation of the wheel 5 on a ground surface, while the wheel 5 remains in substantially the same position with respect to the ground surface.

The displacement units 4 can be rotated about the displacement unit axis VDA over any desired angle, i.e. more than 360 degrees in any direction. This allows the wheels 5 of the displacement units 4 to be arranged in any desired driving direction, while the vehicle 1 is not moving in any direction. This provides a large maneuverability to the vehicle 1 which makes the vehicle 1 very suitable to move in small areas or over tortuous trajectories.The displacement units 4 can be rotated about the displacement unit axis VDA about any desired angle, i.e. more than 360 degrees in any direction. This allows the wheels 5 or the displacement units 4 to be arranged in any desired driving direction, while the vehicle 1 is not moving in any direction. This provides a large maneuverability to the vehicle 1 which makes the vehicle 1 very suitable to move in small areas or over tortuous trajectories.

The displacement unit bearing elements 8 are arranged on a circumference of a circle, whereby in the center of the circle, a top frame bearing element 9 is provided. The top frame bearing element 9 is configured to rotatably support the top frame 3 such that the top frame 3 can rotate about a substantially vertical top frame axis VTA (see Figure 4).The displacement unit bearing elements 8 are arranged on a circumference of a circle, or in the center of the circle, a top frame bearing element 9 is provided. The top frame bearing element 9 is configured to rotatably support the top frame 3 such that the top frame 3 can rotate about a substantial vertical top frame axis VTA (see Figure 4).

The top frame 3 supports a drive actuator 10, a rotation actuator 11, a battery 12, and at least one functional device in the form of a camera 13. The drive actuator 10, the rotation actuator 11, and the battery 12 are arranged on side arms of the top frame 3 that extend perpendicular to the top frame axis VTA. Any other support may also be provided. The battery 12 is provided to energize the drive actuator 10, the rotation actuator 11 and the camera 13.The top frame 3 supports a drive actuator 10, a rotation actuator 11, a battery 12, and at least one functional device in the form of a camera 13. The drive actuator 10, the rotation actuator 11, and the battery 12 are arranged on side arms of the top frame 3 that extend perpendicular to the top frame axis VTA. Any other support may also be provided. The battery 12 is provided to energize the drive actuator 10, the rotation actuator 11 and the camera 13.

The drive actuator 10 is configured to drive, when desired, the wheels 5 in a rotating movement about their respective wheel axes HWA in order to move the vehicle 1 in the drive direction DD. In order to transfer a rotating movement to the wheels 5, a first pulley 14 is provided on the top frame 3, and respective second pulleys 15 are provided on each of the displacement units 4. The first pulley 14 can freely rotate about the top frame 3.The drive actuator 10 is configured to drive, when desired, the wheels 5 in a rotating movement about their respective wheel axes HWA in order to move the vehicle 1 in the drive direction DD. In order to transfer a rotating movement to the wheels 5, a first pulley 14 is provided on the top frame 3, and respective second pulleys 15 are provided on each of the displacement units 4. The first pulley 14 can freely rotate over the top frame 3.

The first pulley 14 is drivingly connected to the actuator pulley 16 of the drive actuator with a first drive cable 17. The second pulleys 15 are drivingly connected with the first pulley 14 by second drive cables 18. The second pulleys 15 are fixed on a vertical drive shaft connected to the gear box 6 of the respective displacement units 4. The gear box 6 is configured to transfer rotation of the vertical drive shaft in rotation of the horizontal drive shaft. At the same time the gear box 6 may be used to reduce the rotation speed of the horizontal drive shaft with respect to the rotation sped of the vertical drive shaft.The first pulley 14 is drivingly connected to the actuator pulley 16 of the drive actuator with a first drive cable 17. The second pulleys 15 are drivingly connected to the first pulley 14 by second drive cables 18. The second pulleys 15 are fixed on a vertical drive shaft connected to the gear box 6 or the respective displacement units 4. The gear box 6 is configured to transfer rotation or the vertical drive shaft into rotation or the horizontal drive shaft. At the same time the gear box 6 may be used to reduce the rotation speed of the horizontal drive shaft with respect to the rotation sped of the vertical drive shaft.

The first pulley 14 comprises four circumferential grooves arranged above each other, each configured to receive one of the first and second drive cables 17,18.The first pulley 14 comprises four circumferential grooves arranged above each other, each configured to receive one of the first and second drive cables 17.18.

When the actuator pulley 16 is rotated by actuation of the drive actuator 10, the rotating movement will be transferred by the first drive cable 17 to the first pulley 14 and, subsequently from the first pulley 14 to each of the second pulleys 15 to drive the vertical drive shaft of each displacement unit 4. Via the gear box 6, the rotation of the vertical drive shaft will be transmitted to the horizontal drive shaft to simultaneously drive all wheels 5 in a rotation about the wheel axis HWA. Since all wheels 5 are arranged in the same drive direction, this will result in a movement of the vehicle 1 in the drive direction DD (see Figures 2 and 3).When the actuator pulley 16 is rotated by actuation of the drive actuator 10, the rotating movement will be transferred by the first drive cable 17 to the first pulley 14 and, from the first pulley 14 to each of the second pulleys 15 to drive the vertical drive shaft or each displacement unit 4. Via the gear box 6, the rotation of the vertical drive shaft will be transmitted to the horizontal drive shaft to simultaneously drive all wheels 5 in a rotation about the wheel axis HWA. Since all wheels 5 are arranged in the same drive direction, this will result in a movement of the vehicle 1 in the drive direction DD (see Figures 2 and 3).

The rotation actuator 11 is configured to rotate, when desired, rotate the top frame 3 about the top frame axis VTA and simultanously rotating the displacement units 4 about their respective vertical displacement unit axes VDA . The rotation actuator 11 comprises a sprocket 19 which engages a first gear wheel 20 fixedly mounted on the first or base frame 2. Rotation of the sprocket 14 results in a rotation of the second or top frame 3 with respect to the base frame 2 in the top frame bearing element 9 about the substantially vertical top frame axis VTA. The top frame 3 comprises three second gear wheels 21 that are fixedly connected to the top frame 3. Each of the displacement units 4 comprises three third gearwheels 22. Each of the second gear wheels 21 is drivingly connected with one of the third gear wheels of each displacement unit 4 by an endless chain 23.The rotation actuator 11 is configured to rotate, when desired, rotate the top frame 3 about the top frame axis VTA and simultanously rotating the displacement units 4 about their respective vertical displacement unit axes VDA. The rotation actuator 11 comprises a sprocket 19 which engages a first gear wheel 20 fixedly mounted on the first or base frame 2. Rotation of the sprocket 14 results in a rotation of the second or top frame 3 with respect to the base frame 2 in the top frame bearing element 9 about the substantially vertical top frame axis VTA. The top frame 3 comprises three second gear wheels 21 that are fixedly connected to the top frame 3. Each of the displacement units 4 comprises three third gear wheels 22. Each of the second gear wheels 21 is drivingly connected with one of the third gear wheels of each displacement unit 4 by an endless chain 23.

It is remarked that each of the displacement units 4 may also be provided with one third gear wheel in order to allow a chain drive between the top frame 3 and the displacement unit 4. However, in the embodiment shown in Figures 1 and 4, each displacement unit 4 is provided with three third gearwheels 22 such that all displacement units 4 can be constructed the same.It is remarked that each of the displacement units 4 may also be provided with one third gear wheel in order to allow a chain drive between the top frame 3 and the displacement unit 4. However, in the embodiment shown in Figures 1 and 4, each displacement unit 4 is provided with three third gear 22 such that all displacement units 4 can be constructed the same.

For the same reason the second pulleys on the displacement units 4 comprise three grooves above each other to receive one of the second drive cables 18. In the other displacement units grooves at different heights are used to receive the second drive cables to avoid that the second drive cables hinder each other.For the same reason the second pulleys on the displacement units 4 include three grooves above each other to receive one of the second drive cables 18. In the other displacement units grooves at different heights are used to receive the second drive cables to avoid the second drive cables hinder each other.

The third gear wheels 22 are fixed on a rotation shaft fixedly connected to the housing of the gear box 6, such that rotation of the rotation shaft results in rotation of the displacement unit 4 with respect to the displacement unit bearing element 8 about the displacement unit axis VDA. It is remarked that the rotation shaft is hollow and the vertical drive shaft runs through the rotation shaft, whereby the rotation shaft and vertical drive shaft may freely rotate with respect to each other.The third gear wheels 22 are fixed on a rotation shaft fixedly connected to the housing of the gear box 6, such that rotation of the rotation shaft results in rotation of the displacement unit 4 with respect to the displacement unit bearing element 8 about the displacement unit axis VDA. It is remarked that the rotation shaft is hollow and the vertical drive shaft runs through the rotation shaft, the rotation shaft and the vertical drive shaft may fairly rotate with respect to each other.

When the sprocket 19 is rotated by actuation of the rotation actuator 11, the rotating movement of the sprocket 19 will cause rotation of the top frame 3 in the top frame bearing element 9 about the top frame axis VTA. This rotation of the top frame 3 will cause rotation of the second gearwheels 21 that are fixedly mounted on the top frame. This rotation will be transferred by the endless chains 23 to the third gear wheels 22 which will cause rotation of the respective displacement unit 4 about the displacement unit axis VDA.When the sprocket 19 is rotated by actuation of the rotation actuator 11, the rotating movement of the sprocket 19 will cause rotation of the top frame 3 in the top frame bearing element 9 about the top frame axis VTA. This rotation of the top frame 3 will cause rotation of the second gear 21 that are fixedly mounted on the top frame. This rotation will be transferred by the endless chains 23 to the third gear wheels 22 which will cause rotation of the respective displacement unit 4 about the displacement unit axis VDA.

The dimensions of the first gear wheel 20, second gear wheels 21 and third gear wheels 22 are selected such that an angle of rotation of the top frame 3 will result in the same angle of rotation of each of the displacement units 4. As a result, an angle of orientation of the top frame 3 will remain the same with respect to the drive direction DD of the wheels 5.The dimensions of the first gear wheel 20, second gear wheels 21 and third gear wheels 22 are selected such that an angle of rotation of the top frame 3 will result in the same angle of rotation or each of the displacement units 4. As a result , an angle of orientation of the top frame 3 will remain the same with respect to the drive direction DD of the wheels 5.

The camera 13 supported by the top frame 3 has a viewing direction parallel with the drive direction DD of the wheels 5. When the displacement units 4 are rotated by actuation of the rotation actuator 11 over an angle of rotation of for example 90 degrees, the top frame 3 will also rotate over an angle of rotation of 90 degrees. This results in that the drive direction DD and the viewing direction of the camera 13 will both be rotated over the angle of rotation of 90 degrees, and will remain parallel to each other.The camera 13 supported by the top frame 3 has a viewing direction parallel to the drive direction DD of the wheels 5. When the displacement units 4 are rotated by actuation of the rotation actuator 11 over an angle of rotation or for example 90 degrees, the top frame 3 will also rotate over an angle of rotation or 90 degrees. This results in the drive direction DD and the viewing direction of the camera 13 will both be rotated over the angle of rotation or 90 degrees, and will remain parallel to each other.

In order to assure that the angle of orientation of the top frame 3 will remain the same with respect to the drive direction DD of each of the wheels 5 of the vehicle 1, it is important that no slip will occur between the rotations of the top frame 3 and each the displacement units 4. For this reason, an endless chain and gear wheels are used to drive the rotation of the top frame 3 and the displacement units 4.In order to assure that the angle of orientation of the top frame 3 will remain the same with respect to the drive direction DD or each of the wheels 5 of the vehicle 1, it is important that no slip will occur between the rotations of the top frame 3 and each of the displacement units 4. For this reason, an endless chain and gear wheels are used to drive the rotation of the top frame 3 and the displacement units 4.

Figure 2 shows a schematic top view of the vehicle 1 in a first rotation position of the top frame 3 and the displacement units 4, wherein the camera 13 is directed in the drive direction DD. When the wheels 5 are rotated about the wheel axis HWA, the vehicle 1 will move in this drive direction DD. The viewing direction of the camera is advantageously the same direction as the drive direction DD so that the camera images can be used for navigation of the vehicle 1.Figure 2 shows a schematic top view of the vehicle 1 in a first rotation position of the top frame 3 and the displacement units 4, the camera 13 is directed in the drive direction DD. When the wheels are rotated about the wheel axis HWA, the vehicle 1 will move in this drive direction DD. The viewing direction of the camera is advantageously the same direction as the drive direction DD so that the camera images can be used for navigation of the vehicle 1.

Figure 3 shows a schematic top view of the vehicle 1 after rotation of the displacement units 4 and the top frame 3 over an angle of rotation of 90 degrees. It can be seen that both the wheels 4 and the camera are still arranged in a parallel direction even though the drive direction DD has been rotated over 90 degrees. As a result, the viewing direction of the camera 13 is still in the same direction as the drive direction DD, such that the camera images can advantageously be used for navigation of the vehicleFigure 3 shows a schematic top view of the vehicle 1 after rotation of the displacement units 4 and the top frame 3 over an angle of rotation or 90 degrees. It can be seen that both wheels 4 and the camera are still arranged in a parallel direction even though the drive direction DD has been rotated through 90 degrees. As a result, the viewing direction of the camera 13 is still in the same direction as the drive direction DD, such that the camera images can be advantageously used for navigation of the vehicle

1. It will be clear that the vehicle 1 is constructed such that independent of the actual drive direction DD, the viewing direction of the camera 13 will remain parallel to the drive direction DD of the wheels, and all the wheels 4 will be arranged in the same direction.1. It will be clear that the vehicle 1 is constructed such that independent of the actual drive direction DD, the viewing direction of the camera 13 will remain parallel to the drive direction DD of the wheels, and all the wheels 4 will be arranged in the same direction.

Figure 4 shows a side view of the vehicle of Figure 2 seen in the direction IV as marked in figure 2. In this view, two displacement units 4 at the right side of the base frame 2 are arranged behind each other.Figure 4 shows a side view of the vehicle of Figure 2 seen in the direction IV as marked in figure 2. In this view, two displacement units 4 at the right side of the base frame 2 are arranged behind each other.

All electric parts, i.e drive actuator 10, rotation actuator 11, and camera 13 are supported by the top frame 3 and provided with energy by the battery 12 which is also supported by the top frame 3. Other electric components, such as a control unit, a wireless communication device, or further functional devices may also be supported on the top frame 3 and provided with energy by the battery 12. This means that all electrical connections are provided within the top frame 3. No electrical connections have to be made between parts moving with respect to each other, which prevents the need of complex cabling or electric connections between moving parts, such as brush contacts.All electric parts, ie drive actuator 10, rotation actuator 11, and camera 13 are supported by the top frame 3 and provided with energy by the battery 12 which is also supported by the top frame 3. Other electric components, such as a control unit , a wireless communication device, or further functional devices may also be supported on the top frame 3 and provided with energy by the battery 12. This means that all electrical connections are provided within the top frame 3. No electrical connections have to be made between parts moving with respect to each other, which avoids the need for complex cabling or electric connections between moving parts, such as brush contacts.

In such embodiment, the base frame 2 may be of relatively simple design as the base frame 2 only provides a rigid connection between the displacement units 4 and the top frame 3.In such an embodiment, the base frame 2 may be or relatively simple design as the base frame 2 only provides a rigid connection between the displacement units 4 and the top frame 3.

It is further remarked that for driving the vehicle 1 in any desired direction only two actuators are required, i.e. a drive actuator 10 to drive the wheelsö in a rotating movement about their wheel axis HWA to move the vehicle in the drive direction DD, and a rotation actuator 11 to rotate the displacement units 4 about the displacement unit axis VDA to adjust the drive direction and to simultaneously rotate the top frame 3 to keep the angle of orientation of a functional device on the top frame 3 the same, in particular parallel, with respect to the drive direction DD.It is further remarked that for driving the vehicle 1 in any desired direction only two actuators are required, ie a drive actuator 10 to drive the wheels in a rotating movement about their wheel axis HWA to move the vehicle in the drive direction DD, and a rotation actuator 11 to rotate the displacement units 4 about the displacement unit axis VDA to adjust the drive direction and to simultaneously rotate the top frame 3 to keep the angle of orientation or a functional device on the top frame 3 the same, in particular parallel, with respect to the drive direction DD.

In dashed lines, a platform 30 with a circumferential side skirt 31 is shown in Figure 4. Such platform 30 with side skirt 31 can be used to provide a proper covering of the vulnerable and/or dangerous parts of the vehicle 1. In particular this covering may cover actuators 10, 11, pulleys 14-16, drive cables 17, 18, sprocket 19, gearwheels 20, 21,22 and endless chains 23. The covering may have any suitable design, for example to provide an attractive appearance of the vehicle.Figure 4 is shown in dashed lines, a platform 30 with a circumferential side skirt 31 and such a platform 30 with a side skirt 31 can be used to provide a suitable covering for the vulnerable and / or dangerous parts of the vehicle 1. In particular this covering may cover actuators 10, 11, pulleys 14-16, drive cables 17, 18, sprocket 19, gearwheels 20, 21.22 and endless chains 23. The covering may have any suitable design, for example to provide an attractive appearance of the vehicle.

In the embodiment of Figure 4, the platform 30 supports, at its circumference, further functional devices 40 that are configured to perform a certain task. These further functional devices 40 can be rotated by rotation of the top frame 3. Such rotation will also cause rotation of the displacement units 4. However, as long as the wheels 4 are not driven by the drive actuator 10, the vehicle 1 remains at the same location.In the embodiment of Figure 4, the platform 30 supports, at its circumference, further functional devices 40 that are configured to perform a certain task. These further functional devices 40 can be rotated by rotation of the top frame 3. Such rotation will also cause rotation of the displacement units 4. However, as long as the wheels are not driven by the drive actuator 10, the vehicle 1 remains at the same location.

In such embodiment, the vehicle 1 can be driven next to an human, animal or object, and when correctly positioned the vehicle 1 can be configured to align, selectively, one or more of the functional devices with the location where the human, animal or object is positioned next to the vehicle by rotation of the platform 30. This allows to carry out a number of tasks by the several functional devices 40 without the need of repositioning the vehicle 1 or requiring a separately movable platform 30. In such embodiment, the platform 30 functions as a carousel with functional devices that enables the vehicle to perform efficiently a number of tasks at a certain location.In such an embodiment, the vehicle 1 can be driven next to a human, animal or object, and when correctly positioned the vehicle 1 can be configured to align, selectively, one or more of the functional devices with the location where the human, animal or object is positioned next to the vehicle by rotation of the platform 30. This allows to carry out a number of tasks by the several functional devices 40 without the need of repositioning the vehicle 1 or requiring a separately movable platform 30. In such embodiment, the platform 30 functions as a carousel with functional devices that allows the vehicle to perform efficiently a number of tasks at a certain location.

The vehicle of the invention provides high maneuverability and as a result high suitability to be used in various situations. The vehicle 1 may be used to carry out different tasks in different fields of application, for example in an industrial, agricultural or domestic environment.The vehicle of the invention provides high maneuverability and as a result high suitability to be used in various situations. The vehicle 1 may be used to carry out different tasks in different fields of application, for example in an industrial, agricultural or domestic environment.

The vehicle control may be performed by a control unit provided in the vehicle such that the vehicle may navigate autonomously in order to perform one or more tasks. But in an alternative embodiment, the vehicle movement may be controlled by an operator. In such case operation is preferably carried out by a remote control that wirelessly is connected to the vehicle 1. The remote control may for example be formed by a handheld device, such as a mobile phone or tablet.The vehicle control may be performed by a control unit provided in the vehicle such that the vehicle may navigate autonomously in order to perform one or more tasks. But in an alternative embodiment, the vehicle movement may be controlled by an operator. In such a case operation, preferably carried out by a remote control is wirelessly connected to the vehicle 1. The remote control may be formed by a handheld device, such as a mobile phone or tablet.

The vehicle shown in the drawings comprises three displacement units 4, but in practice the vehicle 1 may comprise more than three displacement units 4. The displacement units 4 are preferably arranged on circle and more preferably evenly distributed over this circumference of the circle.The vehicle shown in the drawings comprises three displacement units 4, but in practice the vehicle 1 may include more than three displacement units 4. The displacement units 4 are preferably arranged on circle and more preferably equally distributed over this circumference of the circle.

Further, it is remarked that although in the shown embodiment, the second or top frame 3 is arranged above the first or base frame 2, in other embodiments, the rotatable second frame may also be mounted below the first or base frame. Additionally, it is remarked that in stead of wheels 5 the displacement units 4 may be provided with tracked drive such as e.g. caterpillar drives, or with stair climbing or walking mechanisms.Further, it is remarked that although in the shown embodiment, the second or top frame 3 is arranged above the first or base frame 2, in other expires, the rotatable second frame may also be mounted below the first or base frame. Additionally, it is remarked that in stead of wheels 5 the displacement units 4 may be provided with tracked drive such as e.g. caterpillar drives, or with stair climbing or walking mechanisms.

vehicle base frame top frame displacement unit wheel gear box frame arm displacement unit bearing element top frame bearing element drive actuator rotation actuator battery camera first pulley second pulley actuator pulley first drive cable second drive cable sprocket first gear wheel second gear wheel third gear wheel endless chain platform side skirt further functional device VDA Vertical displacement unit axis HWA Horizontal wheel axis VTA Vertical top frame axis DD Drive directionvehicle base frame top frame displacement unit wheel gear box frame arm displacement unit bearing element top frame bearing element drive actuator rotation actuator battery camera first pulley second pulley actuator pulley first drive cable second drive cable sprocket first gear wheel second gear wheel third gear wheel endless chain platform side skirt further functional device VDA Vertical displacement unit axis HWA Horizontal wheel axis VTA Vertical top frame axis DD Drive direction

Claims (15)

CONCLUSIESCONCLUSIONS 1. Een voertuig, omvattende:A vehicle comprising: - een eerste frame,- a first frame, - drie of meer verplaatsingeenheden ingericht om het voertuig te verplaatsen in een voortbewegingrichting, waarbij elke verplaatsingeenheid roteerbaar is aangebracht om een nagenoeg verticale verplaatsingseenheidsas om aanpassing van de voortbewegingrichting voor het eerste frame mogelijk te maken,- three or more moving units adapted to move the vehicle in a direction of movement, wherein each movement unit is rotatably arranged about a substantially vertical movement unit axis to enable adjustment of the direction of movement for the first frame, - een tweede frame, waarbij het tweede frame roteerbaar is aangebracht om een nagenoeg verticale tweede frame-as aan het eerste frame,- a second frame, the second frame being rotatably arranged about a substantially vertical second frame axis on the first frame, - een aandrijving ingericht om de verplaatsingeenheden aan te drijven om het voertuig in de voortbewegingrichting te bewegen, en- a drive adapted to drive the displacement units to move the vehicle in the direction of travel, and - een rotatie-inrichting ingericht om het tweede frame te roteren ten opzichte van het eerste frame en om tegelijkertijd de drie of meer verplaatsingeenheden gelijktijdig te roteren om de voortbewegingrichting aan te passen zodanig dat een oriëntatiehoek van het tweede frame en de voortbewegingrichting gelijk blijven tot elkaar.- a rotation device adapted to rotate the second frame relative to the first frame and simultaneously rotate the three or more displacement units to adjust the direction of movement such that an orientation angle of the second frame and the direction of movement remain equal to each other . 2. Het voertuig van conclusie 1, waarbij de nagenoeg verticale verplaatsingseenheidassen van de drie of meer verplaatsingeenheden aangebracht zijn op een cirkelomtrek, en waarbij de nagenoeg verticale tweede frame-as aangebracht is in het centrum van de cirkel.The vehicle of claim 1, wherein the substantially vertical displacement unit axes of the three or more displacement units are arranged on a circumference of the circle, and wherein the substantially vertical second frame axis is arranged in the center of the circle. 3. Het voertuig van conclusie 1 of 2, waarbij de aandrijving een enkele aandrijvingsactuator omvat, waarbij de enkele aandrijvingsactuator aandrijvend verbonden is met elke verplaatsingeenheid om elke verplaatsingeenheid aan te drijven om het voertuig in de voortbewegingrichting te bewegen.The vehicle of claim 1 or 2, wherein the drive comprises a single drive actuator, wherein the single drive actuator is drive-connected to each displacement unit to drive each displacement unit to move the vehicle in the direction of travel. 4. Het voertuig van conclusie 3, waarbij de enkele aandrijvingsactuator is aangebracht op het tweede frame.The vehicle of claim 3, wherein the single drive actuator is mounted on the second frame. 5. Het voertuig van conclusie 3 of 4, waarbij aandrijvingselementen, zoals aandrijffkabels of aandrijfriemen, voorzien zijn tussen de enkele aandrijvingsactuator en de verplaatsingeenheden.The vehicle of claim 3 or 4, wherein drive elements, such as drive cables or drive belts, are provided between the single drive actuator and the displacement units. 6. Het voertuig van elk der conclusies 1-5, waarbij elke verplaatsingeenheid een wiel omvat aangebracht in de voortbewegingrichting en roteerbaar aangebracht om een wielas.The vehicle of any of claims 1-5, wherein each displacement unit comprises a wheel mounted in the direction of travel and rotatably mounted about a wheel axle. 7. Het voertuig van elk der conclusies 1-6, waarbij de rotatie-inrichting een enkele rotatie-actuator omvat, waarbij de enkele rotatie-actuator aandrijvend verbonden is met elke verplaatsingeenheid door het tweede frame.The vehicle of any one of claims 1-6, wherein the rotation device comprises a single rotation actuator, the single rotation actuator being drivingly connected to each displacement unit by the second frame. 8. Het voertuig van conclusie 6, waarbij de enkele rotatie-actuator aangebracht is op de tweede frame.The vehicle of claim 6, wherein the single rotation actuator is mounted on the second frame. 9. Het voertuig van conclusie 7 of 8, waarbij de rotatie-inrichting een eerste tandwiel omvat aangebracht op de eerste frame, waarbij een kettingwiel van de enkele rotatie-actuator in verbinding staat met het eerste tandwiel om het tweede frame te roteren ten opzichte van het eerste frame, en waarbij voor elke verplaatsingeenheid een tweede tandwiel is voorzien op de tweede frame en een derde tandwiel is voorzien op de verplaatsingeenheid, waarbij elk tweede tandwiel en derde tandwiel aandrijvend zijn verbonden met elkaar door een verbindingsinrichting, zodanig dat rotatie van het tweede frame om zijn verticale as rotatie van elk van de verplaatsingeenheden om zijn overeenkomstige verticale as veroorzaakt.The vehicle of claim 7 or 8, wherein the rotation device comprises a first sprocket mounted on the first frame, a sprocket of the single rotation actuator communicating with the first sprocket to rotate the second frame relative to the first frame, and wherein for each displacement unit a second sprocket is provided on the second frame and a third sprocket is provided on the displacement unit, wherein each second sprocket and third sprocket are drivingly connected to each other by a connecting device such that rotation of the second frame about its vertical axis causes rotation of each of the displacement units about its corresponding vertical axis. 10. Het voertuig van conclusie 9, waarbij de verbindingsinrichting een rondgaande ketting is.The vehicle of claim 9, wherein the connecting device is a circular chain. 11. Het voertuig van elk der conclusies 1-10, waarbij een werkeenheid is aangebracht op het tweede frame.The vehicle of any of claims 1-10, wherein a working unit is mounted on the second frame. 12. Het voertuig van conclusie 11, waarbij de werkeenheid een navigatieinrichting is.The vehicle of claim 11, wherein the work unit is a navigation device. 13. Het voertuig van elk der conclusies 1-10, waarbij het tweede frame meerdere werkenheden omvat verdeeld om de tweede frame-as.The vehicle of any of claims 1-10, wherein the second frame comprises a plurality of operations distributed about the second frame axis. 14. Het voertuig van elk der conclusies 1-13, waarbij het tweede frame een platform omvat welk één of meer werkeenheden ondersteunt.The vehicle of any of claims 1-13, wherein the second frame comprises a platform that supports one or more working units. 15. Het voertuig van elk der conclusies 1-14, waarbij een accu is voorzien op het tweede frame om energie aan de aandrijving en/of rotatie-inrichting te leveren.The vehicle of any of claims 1-14, wherein a battery is provided on the second frame to provide energy to the drive and / or rotation device.
NL2017105A 2016-07-05 2016-07-05 Vehicle NL2017105B1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2116131A (en) * 1982-03-01 1983-09-21 Reza Falamak Drivable steerable platform for lawnmower and the like
US20050236208A1 (en) * 2004-04-27 2005-10-27 Richard Runkles Power wheelchair
US20110067941A1 (en) * 2009-09-22 2011-03-24 Belzile Rodrigue Vehicle with revolving driver station

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2116131A (en) * 1982-03-01 1983-09-21 Reza Falamak Drivable steerable platform for lawnmower and the like
US20050236208A1 (en) * 2004-04-27 2005-10-27 Richard Runkles Power wheelchair
US20110067941A1 (en) * 2009-09-22 2011-03-24 Belzile Rodrigue Vehicle with revolving driver station

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