CN113879046B - Steering axle suitable for omnidirectional vehicle - Google Patents
Steering axle suitable for omnidirectional vehicle Download PDFInfo
- Publication number
- CN113879046B CN113879046B CN202111427188.4A CN202111427188A CN113879046B CN 113879046 B CN113879046 B CN 113879046B CN 202111427188 A CN202111427188 A CN 202111427188A CN 113879046 B CN113879046 B CN 113879046B
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- China
- Prior art keywords
- steering
- wheel
- shaft
- axle
- shaft hole
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- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 24
- 229920001971 elastomer Polymers 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 238000005299 abrasion Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- 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 omni-directional vehicle, which comprises an axle housing, wherein omni-directional wheels are respectively arranged at two ends of the axle housing, are driven to steer by a steering device, are conical wheels, and the conical circumferential outer surfaces of the omni-directional wheels are in contact with the ground. The steering device comprises a steering shaft driven to rotate by a first driving mechanism, and a wheel mounting seat is fixedly arranged at the lower end of the steering shaft; the omni-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 invention adopts the omni-directional wheel with the conical structure to run 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
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 the modern industry, rapid, efficient and reliable advocates the liberation of people from heavy and simple work, replacing part of people's labor with machines. Special vehicles such as transfer vehicles, fork trucks, AGVs and the like are developed and produced based on the development, are important equipment in an industrial logistics system, mainly store and transport various materials, provide important guarantee for flexible, integrated and efficient operation of the system, and are widely applied to the field of product production. They can be flexibly configured according to the warehouse goods space requirement, the production process flow and the like. Special vehicles such as a transfer vehicle, a forklift, an AGV and the like need to flexibly run in a narrow space due to the limitation of working environments, and even can realize in-situ steering. Therefore, the special vehicle has the functions of heavy load, small radius turning, inclined running, in-situ steering and the like, and the use conditions of the special vehicle are considered, so that the abrasion of the wheels to the ground, the coating, the tires and the like in the turning process of the vehicle can be obviously reduced. The existing common special vehicles such as a transfer vehicle, a forklift and an AGV are not flexible enough to steer, and require a large steering space, so that the steering space is limited in use.
Disclosure of Invention
The invention provides a steering axle suitable for an omni-directional vehicle.
The object of the invention is achieved in the following way: the utility model provides a steering axle suitable for omnidirectional vehicle, includes the axle housing, the both ends of axle housing set up the omnidirectional wheel respectively, the omnidirectional wheel is driven by steering device and turns to, the omnidirectional wheel is conical wheel and its conical circumference external surface and ground contact.
The steering device comprises a steering shaft driven to rotate by a first driving mechanism, and a wheel mounting seat is fixedly arranged at the lower end of the steering shaft; the omni-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 lower end part 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 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; and the wheel mounting seat is provided with a limiting surface corresponding to the position of the first bearing.
The axle housing is fixedly provided with a steering shaft sleeve, and the steering shaft is arranged in the steering shaft sleeve through an upper bearing and a lower bearing; the steering shaft sleeve is internally provided with three shaft holes with different diameters, namely an upper shaft hole, a middle shaft hole and a lower shaft hole, 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 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 to the steering shaft and has an axis coincident with the steering shaft.
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 omnidirectional wheel comprises a rim and a tire, wherein the outer shape of the rim is of a conical structure and hollow, the circumferential outer surface of the rim is provided with the tire with the conical shape, and the tire is molded and mounted on the rim by pouring the tire on the rim.
The axle housing is provided with an axle fixing pin shaft hole, and the axle is integrally connected with the axle through a pin shaft arranged in the axle fixing pin shaft hole; and a limiting rubber block is arranged above the axle housing.
The beneficial effects of the invention are as follows: the invention adopts the omni-directional wheel with the conical structure to run 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 wheel rim and the tire are integrated in the conical omni-directional wheel, and the conical wheel is compact in structure and high in 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.
Fig. 3 is an omni-wheel schematic.
The steering device comprises a steering shaft 1, a steering speed reducer 2, an omni wheel 3, a rim 30, a tire 31, a wheel mounting surface 32, a wheel axle 4, a second bearing 5, a steering motor speed reducer 6, an axle housing 7, an angle encoder 9, a steering speed reducer seat 11, a limit rubber block 12, a rim cover support 13, a rim cover 14, a first bearing 15, an axle fixing pin shaft hole 16, a wheel mounting seat 17, a connecting disc 18 and a steering shaft sleeve 19.
Detailed Description
The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings and specific embodiments, it being understood that the preferred embodiments described herein are for illustrating and explaining the present application only and should not be construed as limiting the scope of the present application, and that some insubstantial modifications and adaptations can be made by those skilled in the art in light of the above description of the present application. In the present application, unless explicitly specified and defined otherwise, technical terms used in the present application should be construed in a general sense as understood by those skilled in the art to which the present application pertains. The terms "connected," "fixedly," "disposed" and the like are to be construed broadly and may be fixedly connected, detachably connected or integrally formed; can be directly connected or indirectly connected through an intermediate medium; either mechanically or electrically. Unless explicitly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances. Unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact through an intervening medium. Moreover, a first feature being "above" or "over" or "upper" a second feature may be a first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under" or "beneath" or "under" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is level less 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 numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
As shown in fig. 1-3, a steering axle suitable for an omni-directional vehicle comprises an axle housing 7, wherein omni-directional wheels 3 are respectively arranged at two ends of the axle housing 7, the omni-directional wheels 3 are driven to steer by a steering device, the omni-directional wheels 3 are conical wheels, and the conical circumferential outer surfaces of the omni-directional wheels are in contact with the ground.
The steering device comprises a steering shaft 1 driven to rotate by a first driving mechanism, 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, and the wheel axle 4 is mounted inside the wheel mounting seat 17 through the first bearing 15.
The lower end part of the wheel shaft 4 is fixedly provided with a connecting disc 18, and the connecting disc 18 is fixedly connected with the wheel mounting surface of the omnidirectional wheel 3 through a hub bolt. The rim cover 14 is arranged on the other side of the omni-wheel 3. The rim cover support 13 is located at the tail of the steering shaft 1 and is used for supporting and fixing the rim cover 14. Specifically: the rim cover support 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 support 13 by bolts.
The two ends of the wheel axle 4 are respectively arranged in the wheel mounting seat 17 through first bearings 15, the wheel axle 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 axle 4 is fixed on the steering shaft 1 through a tapered roller bearing, so that the wheel axle 4 is guaranteed to rotate around the steering shaft 1, and the axial movement of the wheel axle 4 along the steering shaft 1 is limited. The limiting surface can be achieved here by providing holes of different diameters in the wheel mounting 17, which is a common bearing limiting 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; the steering shaft sleeve 19 is internally provided with three shaft holes with different diameters, namely an upper shaft hole, a middle shaft hole and a lower shaft hole, 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 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 5 respectively. The second bearing 5 is preferably a tapered roller bearing. In fact, the lower end face of the upper shaft hole and the upper end face of the lower bearing limit the whole formed by the two second bearings 5 and the steering shaft 1, and can ensure that the steering shaft 1 can rotate around the axle housing 7 and limit the steering shaft 1 to move up and down along the axle housing 7. The steering shaft 1 may be a tapered body having a small upper part and a large lower part.
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 to the steering shaft 1 and coincides with the axis. The steering turbine is fixed on the outer surface of the steering shaft 1. The steering speed reducer 2 is a worm and gear speed reducer which is fixedly connected to the steering speed reducer seat 11 through a bolt, wherein a worm is an input end, and a worm wheel 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 two 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. The other input end of the worm is fixed with an angle encoder fixing seat and an angle encoder 9, and the angle encoder fixing seat and the angle encoder 9 are connected by adopting a flat key and used for feeding back the deflection angle of each tire in real time. The manner in which the angle encoder 9 is installed is prior art and will not be described in detail.
The omni-wheel 3 comprises a rim 30 and a tire 31, wherein the rim 30 is in a conical structure and hollow in the inside, the tire 31 with the conical shape is arranged on the peripheral outer surface of the rim 30, and the tire 31 is molded and mounted on the rim 30 by pouring the tire 31 on the rim 30. The hub is formed by casting in a high-pressure die casting mode or is formed by machining. The outer jacket 31 is conical in shape and the outer jacket is conical in shape. 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 tyre 31 is directly poured onto the rim 30 by gluing or by means of a mould. The rim 30 has a wheel mounting surface 32 therein, and the wheel mounting surface 32 is fixed to the connection plate 18 by bolts. The wheel rim 30 and the tire 31 are integrated in the conical wheel, and the conical wheel has compact structure and high loading capacity. The sliding friction between the tire 31 and the ground can be remarkably reduced during cornering, 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 with the axle 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 modularized installation mode, and the steering axle can rotate around the pin shaft to ensure that wheels are all grounded on uneven roads. The limiting rubber block 12 is located above the axle housing 7, and can limit the rotation angle of the axle when the steering axle rotates around the fixed pin shaft, so that the axle housing 7 is prevented from colliding with the frame. By the above connection, both wheel trains of the steer axle are steered around the axle housing 7 as well as rotated around the axle 4 axis.
The steering axle disclosed by the invention can rotate around the pin shaft to adjust the posture of the whole vehicle while ensuring that each wheel on the steering axle turns 360 degrees independently. Because the conical omnidirectional wheel 3 and the steering shaft 1 have a certain angle, the contact area between the conical omnidirectional wheel 3 and the ground is parabolic, and the radius of a tire close to the steering center is smaller and the radius of a tire far away from the steering center is larger in the steering process of the wheel, so that compared with the steering process of a traditional steering wheel and the like, the sliding friction between the tire and the ground is obviously reduced, and the abrasion of the tire and the damage to the road are reduced.
The specific implementation method comprises the following steps: 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 for a certain angle, and the steering turbine rotates with the wheel mounting seat 17 fixed on the steering shaft 1 to drive the omni-wheel 3 on the steering shaft to rotate for a certain angle. The steering angle is monitored by a steering encoder.
The above-described preferred embodiments of the present invention are only preferred embodiments, but not all embodiments, and the scope of the present invention is not limited thereto. The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description. When the combination of the technical solutions is contradictory or impossible to realize, it should be considered that the combination of the technical solutions does not exist and is not within the scope of protection claimed by the present invention. It should be noted that equivalents and modifications according to the technical solution of the present invention and the inventive concept thereof, as well as several changes and modifications made thereto, will be apparent to those skilled in the art without departing from the spirit of the general inventive concept and the principles of the present invention, which should also be considered as the scope of the present invention.
Claims (1)
1. The utility model provides a turn to axle suitable for omnidirectional vehicle, includes the axle housing, the both ends of axle housing set up the omnidirectional wheel respectively, the omnidirectional wheel is driven by steering device and turns to its characterized in that: the omni wheel is a conical wheel and the conical circumferential outer surface of the omni wheel is in contact with the ground;
the steering device comprises a steering shaft driven to rotate by a first driving mechanism, 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 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; a limiting surface is arranged at the position of the wheel mounting seat corresponding to the first bearing;
The axle housing is fixedly provided with a steering shaft sleeve, and the steering shaft is arranged in the steering shaft sleeve through an upper bearing and a lower bearing; the steering shaft sleeve is internally provided with three shaft holes with different diameters, namely an upper shaft hole, a middle shaft hole and a lower shaft hole, 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 the lower shaft hole; the lower end face of the upper shaft hole is used for limiting the corresponding second bearing respectively;
The axle housing is provided with an axle fixing pin shaft hole, and the axle is integrally connected with the axle through a pin shaft arranged in the axle fixing pin shaft hole; a limiting rubber block is arranged above the axle housing;
The lower end part 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 hub bolt;
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 worm wheel; the steering worm wheel 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 omnidirectional wheel comprises a rim and a tire, wherein the outer shape of the rim is of a conical structure and hollow, the circumferential outer surface of the rim is provided with the tire with the conical shape, and the tire is cast on the rim to realize tire molding and is mounted on the rim.
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 CN113879046A (en) | 2022-01-04 |
| CN113879046B true CN113879046B (en) | 2024-04-23 |
Family
ID=79016213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111427188.4A Active CN113879046B (en) | 2021-11-28 | 2021-11-28 | Steering axle suitable for omnidirectional vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113879046B (en) |
Citations (12)
| 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 |
| WO2007073307A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangment |
| WO2007073308A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangement |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE524326C2 (en) * | 2002-07-15 | 2004-07-27 | Stock Of Sweden Ab | Vehicles and method of control thereof |
| SE524739C2 (en) * | 2002-07-15 | 2004-09-21 | Stock Of Sweden Ab | Truck |
-
2021
- 2021-11-28 CN CN202111427188.4A patent/CN113879046B/en active Active
Patent Citations (14)
| 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 |
| US4995679A (en) * | 1986-11-07 | 1991-02-26 | Max Segerljung | Wheel assembly for moving objects |
| WO1988003492A1 (en) * | 1986-11-07 | 1988-05-19 | Max Segerljung | Wheel means 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 |
| 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 |
| WO2007073307A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangment |
| WO2007073308A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangement |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113879046A (en) | 2022-01-04 |
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