CN113879046A - Steering axle suitable for omnidirectional vehicle - Google Patents

Steering axle suitable for omnidirectional vehicle Download PDF

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Publication number
CN113879046A
CN113879046A CN202111427188.4A CN202111427188A CN113879046A CN 113879046 A CN113879046 A CN 113879046A CN 202111427188 A CN202111427188 A CN 202111427188A CN 113879046 A CN113879046 A CN 113879046A
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CN
China
Prior art keywords
steering
wheel
shaft
axle
omni
Prior art date
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Granted
Application number
CN202111427188.4A
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Chinese (zh)
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CN113879046B (en
Inventor
王永超
刘业涛
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713th Research Institute of CSIC
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713th Research Institute of CSIC
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Filing date
Publication date
Application filed by 713th Research Institute of CSIC filed Critical 713th Research Institute of CSIC
Priority to CN202111427188.4A priority Critical patent/CN113879046B/en
Publication of CN113879046A publication Critical patent/CN113879046A/en
Application granted granted Critical
Publication of CN113879046B publication Critical patent/CN113879046B/en
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Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
    • B60B35/003—Steerable axles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B37/00—Wheel-axle combinations, e.g. wheel sets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C7/00—Non-inflatable or solid tyres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C7/00—Non-inflatable or solid tyres
    • B60C7/24—Non-inflatable or solid tyres characterised by means for securing tyres on rim or wheel body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/04—Steering gears mechanical of worm type
    • B62D3/10—Steering gears mechanical of worm type with worm engaging in sector or roller gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421—Electric motor acting on or near steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C7/00—Non-inflatable or solid tyres
    • B60C2007/005—Non-inflatable or solid tyres made by casting, e.g. of polyurethane
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction 

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The invention provides a steering axle suitable for an omnidirectional vehicle, which comprises an axle housing, wherein omnidirectional wheels are respectively arranged at two ends of the axle housing, the omnidirectional wheels are driven by a steering device to steer, and the omnidirectional wheels are conical wheels, and the conical circumferential outer surfaces of the omnidirectional wheels are in contact with the ground. The steering device comprises a steering shaft driven by a first driving mechanism to rotate, and a wheel mounting seat is fixedly arranged at the lower end of the steering shaft; the omnidirectional wheel is fixed on an obliquely arranged wheel shaft, and the wheel shaft is fixed on the wheel mounting seat through a first bearing. The omnidirectional vehicle runs by adopting the conical structure and has novel appearance. The steering mechanism has strong bearing capacity and can realize 360-degree steering of the wheels around the fixed shaft. The sliding friction force between the tire and the ground can be obviously reduced in the turning process, and the abrasion of the tire and the damage to the road surface are reduced.

Description

Steering axle suitable for omnidirectional vehicle
Technical Field
The invention belongs to the field of omni-directional rotating wheels, and particularly relates to a steering axle suitable for an omni-directional vehicle.
Background
In modern industry, rapid, efficient and reliable operation is advocated, freeing people from heavy and simple work and replacing part of people's work with machines. Special vehicles such as transfer vehicles, forklifts, AGV vehicles and the like are produced based on the research and development, are important equipment in an industrial logistics system, are mainly used for storing and transporting various materials, provide important guarantee for flexibility, integration and efficient operation of the system, and are very widely applied to the field of product production. They can be flexibly configured according to the storage goods position requirements, the production process flow and the like. Due to the limitation of working environment, special vehicles such as a transfer cart, a forklift and an AGV trolley need to flexibly run in a narrow space, and even can realize in-situ steering. Therefore, special vehicles need to have the functions of large load, small radius turning, diagonal driving, pivot steering and the like, and meanwhile, the wheels need to be capable of obviously reducing the abrasion of the wheels to the ground, coatings, tires and the like in the turning process of the vehicles by considering the use working conditions of the special vehicles. The conventional common special vehicles such as a transfer car, a forklift and an AGV are not flexible enough in steering, need larger steering space and are limited in use.
Disclosure of Invention
The invention provides a steering axle suitable for an omnidirectional vehicle.
The object of the invention is achieved in the following way: the utility model provides a turn to axle suitable for omnidirection car, includes the axle housing, the both ends of axle housing set up the omnidirection wheel respectively, the omnidirection wheel is turned to the device drive and turns to, the omnidirection wheel is conical wheel and its conical circumference surface and ground contact.
The steering device comprises a steering shaft driven by a first driving mechanism to rotate, and a wheel mounting seat is fixedly arranged at the lower end of the steering shaft; the omnidirectional wheel is fixed on an obliquely arranged wheel shaft, and the wheel shaft is fixed on the wheel mounting seat through a first bearing.
And the end part of the lower end of the wheel shaft is fixedly provided with a connecting disc, and the connecting disc is fixedly connected with the wheel mounting surface of the omnidirectional wheel through a wheel hub bolt.
The two ends of the wheel shaft are respectively arranged in the wheel mounting seat through first bearings, the wheel shaft is a conical body, and the first bearings are tapered roller bearings; the wheel mounting seat is provided with a limiting surface corresponding to the position of the first bearing.
A steering shaft sleeve is fixedly arranged on the axle housing, and the steering shaft is arranged in the steering shaft sleeve through an upper second bearing and a lower second bearing; the steering shaft sleeve is internally provided with an upper shaft hole, a middle shaft hole and a lower shaft hole which have different diameters, the two second bearings are respectively matched with the upper shaft hole and the lower shaft hole, and the diameter of the middle shaft hole is smaller than that of the upper shaft hole and that of the lower shaft hole; the lower end face of the upper shaft hole and the upper end face of the lower bearing limit the corresponding second bearing respectively.
The first driving mechanism comprises a steering motor fixedly arranged on the axle housing, the steering motor is connected with a steering motor reducer, an output shaft of the steering motor reducer is connected with a steering reducer, the steering reducer comprises a steering worm, and the steering worm is meshed with a steering turbine; the steering turbine is fixed with the steering shaft and the axis is coincident.
One end of the worm is connected with an output shaft of the steering speed reducer, and the other end of the worm is provided with an angle encoder.
The omni-directional wheel comprises a rim and a tire, the rim is of a conical structure and is hollow inside, the tire of which the outer shape is conical is arranged on the circumferential outer surface of the rim, and the tire is formed on the rim and is installed on the rim by pouring.
The axle housing is provided with an axle fixing pin shaft hole, and the axle is connected with the whole body through a pin shaft arranged in the axle fixing pin shaft hole; and a limiting rubber block is arranged above the axle housing.
The invention has the beneficial effects that: the omnidirectional vehicle runs by adopting the conical structure and has novel appearance. The steering mechanism has strong bearing capacity and can realize 360-degree steering of the wheels around the fixed shaft. The conical omnidirectional wheel has the advantages of integration of the rim and the tire, compact structure and high load capacity. The sliding friction force between the tire and the ground can be obviously reduced in the 360-degree turning process, and the abrasion of the tire and the damage to the road surface are reduced.
Drawings
FIG. 1 is a front view of a steer axle of the present invention.
Fig. 2 is a top view of fig. 1.
Figure 3 is a schematic view of an omni wheel.
Wherein 1 is a steering shaft, 2 is a steering reducer, 3 is an omni wheel, 30 is a rim, 31 is a tire, 32 is a wheel mounting surface, 4 is an axle, 5 is a second bearing, 6 is a steering motor reducer, 7 is an axle housing, 9 is an angle encoder, 11 is a steering reducer seat, 12 is a limit rubber block, 13 is a rim cover support, 14 is a rim cover, 15 is a first bearing, 16 is an axle fixing pin shaft hole, 17 is a wheel mounting seat, 18 is a connecting disc, and 19 is a steering sleeve.
Detailed Description
While the invention will be described in detail and with reference to the drawings and specific examples, it is to be understood that the invention is not limited to the precise construction and details shown and described herein, but is capable of numerous rearrangements and modifications as will now become apparent to those skilled in the art. In the present invention, unless otherwise specifically defined and limited, technical terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention pertains. The terms "connected", "fixed", "arranged" and the like are to be understood in a broad sense, and may be fixedly connected, detachably connected or integrated; can be directly connected or indirectly connected through an intermediate medium; either mechanically or electrically. Unless explicitly defined otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features, or indirectly contacting the first and second features through intervening media. Furthermore, a first feature may be "on" or "over" or "above" a second feature, and the like, may be directly on or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature "under" or "beneath" a second feature may be directly under or obliquely under the first feature or may simply mean that the first feature is at a lesser level than the second feature. Relational terms such as first, second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
As shown in fig. 1-3, a steering axle suitable for omnidirectional vehicle comprises an axle housing 7, omnidirectional wheels 3 are respectively arranged at two ends of the axle housing 7, the omnidirectional wheels 3 are driven by a steering device to steer, and the omnidirectional wheels 3 are conical wheels and the conical circumferential outer surfaces of the omnidirectional wheels are in contact with the ground.
The steering device comprises a steering shaft 1 driven by a first driving mechanism to rotate, and a wheel mounting seat 17 is fixedly arranged at the lower end of the steering shaft 1; the omni wheel 3 is fixed on an obliquely arranged wheel shaft 4, and the wheel shaft 4 is fixed on the wheel mounting seat 17 through a first bearing 15. Preferably, the wheel mounting seat 17 is hollow inside, and the wheel shaft 4 is mounted inside the wheel mounting seat 17 through the first bearing 15.
And a connecting disc 18 is fixedly arranged at the end part of the lower end of the wheel shaft 4, and the connecting disc 18 is fixedly connected with the wheel mounting surface of the omnidirectional wheel 3 through a wheel hub bolt. The other side of the omni wheel 3 is provided with a rim cover 14. A rim cover seat 13 is provided at the rear of the steering shaft 1 for supporting a fixed rim cover 14. Specifically, the method comprises the following steps: the rim cover carrier 13 is fixed to the steering sleeve 19, which is fixedly connected to the steering shaft 1, and the rim cover 14 is fixed to the rim cover carrier 13 by means of bolts.
The two ends of the wheel shaft 4 are respectively arranged in the wheel mounting seat 17 through first bearings 15, the wheel shaft 4 is a conical body, and the first bearings 15 are preferably tapered roller bearings; the wheel mounting seat 17 is provided with a limiting surface corresponding to the position of the first bearing 15. The wheel shaft 4 is fixed on the steering shaft 1 through a tapered roller bearing, so that the wheel shaft 4 is ensured to rotate around the steering shaft 1, and the wheel shaft 4 is limited to move along the axial direction of the steering shaft 1. The stop surface can be achieved by providing holes of different diameters in the wheel mounting seat 17, which is a common bearing stop structure and will not be described in detail.
A steering shaft sleeve 19 is fixedly arranged on the axle housing 7, and the steering shaft 1 is arranged in the steering shaft sleeve 19 through an upper second bearing 5 and a lower second bearing 5; an upper shaft hole, a middle shaft hole and a lower shaft hole which have different diameters are arranged in the steering shaft sleeve 19, the two second bearings 5 are respectively matched with the upper shaft hole and the lower shaft hole, and the diameter of the middle shaft hole is smaller than that of the upper shaft hole and that of the lower shaft hole; the lower end face of the upper shaft hole and the upper end face of the lower bearing respectively limit the corresponding second bearing 5. The second bearing 5 is preferably a tapered roller bearing. In fact, go up the lower terminal surface in shaft hole and the up end of lower bearing is to two the second bearing 5 with the whole that steering shaft 1 constitutes is spacing, can guarantee that steering shaft 1 can rotate round axle housing 7 outside, can also restrict steering shaft 1 and reciprocate along axle housing 7. The steering shaft 1 may be a tapered body having a small top and a large bottom.
The first driving mechanism comprises a steering motor fixedly arranged on the axle housing 7, the steering motor is connected with a steering motor reducer 6, an output shaft of the steering motor reducer 6 is connected with a steering reducer 2, the steering reducer 2 comprises a steering worm, and the steering worm is meshed with a steering turbine; the steering turbine is fixed with the steering shaft 1 and the axis of the steering turbine coincides with the axis of the steering shaft. The outer surface of the steering shaft 1 is fixed with the steering turbine. The steering reducer 2 is a worm gear reducer and is fixedly connected to the steering reducer base 11 through a bolt, wherein a worm is an input end, and a worm gear is an output end; one end of the worm input end of the steering reducer 2 is fixed with a steering motor reducer 6, and the steering motor reducer are connected by adopting a flat key to transmit steering torque.
One end of the worm is connected with an output shaft of the steering speed reducer 2, and the other end of the worm is provided with an angle encoder 9. And an angle encoder fixing seat and an angle encoder 9 are fixed at the other input end of the worm, and the two are connected by adopting a flat key and used for feeding back the deflection angle of each tire in real time. The manner of mounting the angular encoder 9 is prior art and will not be described in detail.
The omnidirectional wheel 3 comprises a rim 30 and a tire 31, wherein the rim 30 is of a conical structure and is hollow inside, the tire 31 with a conical shape is arranged on the circumferential outer surface of the rim 30, and the tire 31 is formed on the rim 30 by pouring and is installed on the rim 30. The hub is formed by casting in a high-pressure die-casting mode or formed by machining. The outer shape is conical, and the outer sleeve of the tyre 31 is also conical. The tyre 31 is made of rubber or polyurethane, so that the impact on the vehicle caused by uneven ground can be properly reduced; the tire 31 is directly cast on the rim 30 by gluing or by molding. A wheel mounting surface 32 is provided in the rim 30, and the wheel mounting surface 32 is bolted to the attachment plate 18. The rim 30 and the tire 31 are integrated in the conical wheel of the invention, and the conical wheel has compact structure and large load capacity. The sliding friction force between the tire 31 and the ground can be obviously reduced during the turning process, and the abrasion of the tire 31 and the damage to the road surface can be reduced.
An axle fixing pin shaft hole 16 is formed in the axle housing 7, and the axle is integrally connected through a pin shaft arranged in the axle fixing pin shaft hole 16; and a limiting rubber block 12 is arranged above the axle housing 7. The steering axle adopts a modular installation mode, and can rotate around the pin shaft so as to ensure that wheels of the steering axle are completely grounded on uneven roads. Spacing rubber block 12 is located axle housing 7 top, when turning to the axle around the fixed pin axle rotation, can restrict the rotation angle of axle, prevents that axle housing 7 from colliding with the frame. By the above connection, the two wheel trains of the steering axle can be steered around the axle housing 7 and also can rotate around the axle 4 axis.
The steering axle ensures that each wheel on the steering axle can independently steer for 360 degrees, and can rotate around the pin shaft to adjust the posture of the whole vehicle. Because the conical omnidirectional wheel 3 and the steering shaft 1 have a certain angle, the outer edge of the contact area between the conical omnidirectional wheel 3 and the ground is a parabola, and the radius of the tire close to the steering center is smaller and the radius of the tire far away from the steering center is larger in the steering process of the wheel, so that the sliding friction force between the tire and the ground is obviously reduced, and the abrasion of the tire and the damage to the road surface are reduced compared with the conventional steering wheel and the like in the steering process.
In the specific implementation: when the steering is needed: the steering motor drives the steering speed reducer 2 to rotate, the steering turbine rotates to drive the steering shaft 1 to rotate by a certain angle, and the wheel mounting seat 17 fixed with the steering shaft 1 rotates to drive the omnidirectional wheel 3 on the steering shaft to rotate by a certain angle. The steering angle is monitored by a steering encoder.
The above description is only for the preferred embodiment of the present invention, not for all embodiments, and the scope of the present invention is not limited thereto. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features. Where combinations of features are mutually inconsistent or impractical, such combinations should not be considered as being absent and not within the scope of the claimed invention. It should be noted that those skilled in the art and any person skilled in the art can make equivalent substitutions or changes according to the technical solution of the present invention and the inventive concept thereof, and make several changes and improvements without departing from the spirit of the present invention and the principle of the present invention, which should also be regarded as the protection scope of the present invention.

Claims (9)

1. The utility model provides a turn to axle suitable for omnidirection car, includes the axle housing, the both ends of axle housing set up the omnidirection wheel respectively, the omnidirection wheel is turned to the device and is driven and turn to its characterized in that: the omni wheel is a conical wheel and its conical circumferential outer surface is in contact with the ground.
2. A steer axle for an omni-directional vehicle according to claim 1 wherein: the steering device comprises a steering shaft driven by a first driving mechanism to rotate, and a wheel mounting seat is fixedly arranged at the lower end of the steering shaft; the omnidirectional wheel is fixed on an obliquely arranged wheel shaft, and the wheel shaft is fixed on the wheel mounting seat through a first bearing.
3. A steer axle for an omni-directional vehicle according to claim 2 wherein: and the end part of the lower end of the wheel shaft is fixedly provided with a connecting disc, and the connecting disc is fixedly connected with the wheel mounting surface of the omnidirectional wheel through a wheel hub bolt.
4. A steer axle for an omni-directional vehicle according to claim 2 wherein: the two ends of the wheel shaft are respectively arranged in the wheel mounting seat through first bearings, the wheel shaft is a conical body, and the first bearings are tapered roller bearings; the wheel mounting seat is provided with a limiting surface corresponding to the position of the first bearing.
5. A steer axle for an omni-directional vehicle according to claim 2 wherein: a steering shaft sleeve is fixedly arranged on the axle housing, and the steering shaft is arranged in the steering shaft sleeve through an upper second bearing and a lower second bearing; the steering shaft sleeve is internally provided with an upper shaft hole, a middle shaft hole and a lower shaft hole which have different diameters, the two second bearings are respectively matched with the upper shaft hole and the lower shaft hole, and the diameter of the middle shaft hole is smaller than that of the upper shaft hole and that of the lower shaft hole; the lower end face of the upper shaft hole and the upper end face of the lower bearing limit the corresponding second bearing respectively.
6. A steer axle for an omni-directional vehicle according to claim 2 wherein: the first driving mechanism comprises a steering motor fixedly arranged on the axle housing, the steering motor is connected with a steering motor reducer, an output shaft of the steering motor reducer is connected with a steering reducer, the steering reducer comprises a steering worm, and the steering worm is meshed with a steering turbine; the steering turbine is fixed with the steering shaft and the axis is coincident.
7. The steer axle for an omni-directional vehicle according to claim 6, wherein: one end of the worm is connected with an output shaft of the steering speed reducer, and the other end of the worm is provided with an angle encoder.
8. A steer axle for an omni-directional vehicle according to any one of claims 1 to 4 wherein: the omni-directional wheel comprises a rim and a tire, the rim is of a conical structure and is hollow inside, the tire of which the outer shape is conical is arranged on the circumferential outer surface of the rim, and the tire is formed on the rim and is installed on the rim by pouring.
9. A steer axle for an omni-directional vehicle according to any one of claims 2 to 7 wherein: the axle housing is provided with an axle fixing pin shaft hole, and the axle is connected with the whole body through a pin shaft arranged in the axle fixing pin shaft hole; and a limiting rubber block is arranged above the axle housing.
CN202111427188.4A 2021-11-28 2021-11-28 Steering axle suitable for omnidirectional vehicle Active CN113879046B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111427188.4A CN113879046B (en) 2021-11-28 2021-11-28 Steering axle suitable for omnidirectional vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111427188.4A CN113879046B (en) 2021-11-28 2021-11-28 Steering axle suitable for omnidirectional vehicle

Publications (2)

Publication Number Publication Date
CN113879046A true CN113879046A (en) 2022-01-04
CN113879046B CN113879046B (en) 2024-04-23

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Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1137331A (en) * 1954-11-20 1957-05-27 Vehicle wheel device
FR1427653A (en) * 1964-06-19 1966-02-11 Rech S Ind Et Economiques Soc Rolling device
FR1596062A (en) * 1968-12-12 1970-06-15
GB1245970A (en) * 1968-11-19 1971-09-15 Elie Prodromos Aghnides Vehicle with inclined wheels
US4739810A (en) * 1985-06-17 1988-04-26 Grumman Aerospace Corporation Convoluted cone wheel
WO1988003492A1 (en) * 1986-11-07 1988-05-19 Max Segerljung Wheel means for moving objects
WO1999054190A1 (en) * 1998-04-17 1999-10-28 Maxmove Ab Arrangement for vehicles
DE102004020932A1 (en) * 2004-04-28 2005-12-01 Zoltan Soltesz Chassis for land vehicle, has inclined axle arranged in wheels whose axes of rotation includes hitch angle of preset degree, where each wheel has shaft that is twistable around vertical steering axle relative to frame of vehicle
US20060155446A1 (en) * 2002-07-15 2006-07-13 Max Segerljung Industrial truck
US20060247837A1 (en) * 2002-07-15 2006-11-02 Max Segerljung Vehicle and a method for controlling steering thereof
WO2007073308A1 (en) * 2005-12-23 2007-06-28 Maxmove Industrier Ab A wheel arrangement and a vehicle comprising such wheel arrangement
WO2007073307A1 (en) * 2005-12-23 2007-06-28 Maxmove Industrier Ab A wheel arrangement and a vehicle comprising such wheel arrangment
CN103101399A (en) * 2011-11-10 2013-05-15 桂林悍马百适轮胎科技有限公司 Polyurethane airless tire, and manufacturing method and application thereof
CN106470893A (en) * 2014-03-13 2017-03-01 Ati股份有限公司 There is the vehicle track assembly of taper cone pulley

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1137331A (en) * 1954-11-20 1957-05-27 Vehicle wheel device
FR1427653A (en) * 1964-06-19 1966-02-11 Rech S Ind Et Economiques Soc Rolling device
GB1245970A (en) * 1968-11-19 1971-09-15 Elie Prodromos Aghnides Vehicle with inclined wheels
FR1596062A (en) * 1968-12-12 1970-06-15
US4739810A (en) * 1985-06-17 1988-04-26 Grumman Aerospace Corporation Convoluted cone wheel
WO1988003492A1 (en) * 1986-11-07 1988-05-19 Max Segerljung Wheel means for moving objects
US4995679A (en) * 1986-11-07 1991-02-26 Max Segerljung Wheel assembly for moving objects
DE3787812D1 (en) * 1986-11-07 1993-11-18 Max Segerljung Drive and steering unit.
WO1999054190A1 (en) * 1998-04-17 1999-10-28 Maxmove Ab Arrangement for vehicles
US20060155446A1 (en) * 2002-07-15 2006-07-13 Max Segerljung Industrial truck
US20060247837A1 (en) * 2002-07-15 2006-11-02 Max Segerljung Vehicle and a method for controlling steering thereof
DE102004020932A1 (en) * 2004-04-28 2005-12-01 Zoltan Soltesz Chassis for land vehicle, has inclined axle arranged in wheels whose axes of rotation includes hitch angle of preset degree, where each wheel has shaft that is twistable around vertical steering axle relative to frame of vehicle
WO2007073308A1 (en) * 2005-12-23 2007-06-28 Maxmove Industrier Ab A wheel arrangement and a vehicle comprising such wheel arrangement
WO2007073307A1 (en) * 2005-12-23 2007-06-28 Maxmove Industrier Ab A wheel arrangement and a vehicle comprising such wheel arrangment
CN103101399A (en) * 2011-11-10 2013-05-15 桂林悍马百适轮胎科技有限公司 Polyurethane airless tire, and manufacturing method and application thereof
CN106470893A (en) * 2014-03-13 2017-03-01 Ati股份有限公司 There is the vehicle track assembly of taper cone pulley

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