DE202009003991U1 - Independent wheel suspension for a drivable and steerable wheel - Google Patents
Independent wheel suspension for a drivable and steerable wheel Download PDFInfo
- Publication number
- DE202009003991U1 DE202009003991U1 DE202009003991U DE202009003991U DE202009003991U1 DE 202009003991 U1 DE202009003991 U1 DE 202009003991U1 DE 202009003991 U DE202009003991 U DE 202009003991U DE 202009003991 U DE202009003991 U DE 202009003991U DE 202009003991 U1 DE202009003991 U1 DE 202009003991U1
- Authority
- DE
- Germany
- Prior art keywords
- drive
- wheel
- shaft
- housing
- chassis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
-
- 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
- B62D5/0418—Electric motor acting on road wheel carriers
-
- 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
- B62D7/023—Steering turntables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/423—Rails, tubes, or the like, for guiding the movement of suspension elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/37—Vehicles having steerable wheels mounted on a vertically moving column
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Einzelradaufhängung für ein auf einer Abstützfläche (15) abrollendes Rad (1) mit einem Radaufhängungsgehäuse (2), in dem die Radachse (3) für das Rad (1) gelagert ist,
und bei der das Radaufhängungsgehäuse (2) mittels einer Gehäusewelle (8) drehbar im Fahrgestell (4) gelagert ist, so dass durch die Drehung der Gehäusewelle (8) gegenüber dem Fahrgestell (4) eine Lenkbewegung (14) des Rades (1) gegenüber der Abstützfläche (15) bewirkbar ist,
das Rad (1) in der Radebene oder parallel dazu einen Antriebsdrehkranz (6) aufweist, in den ein angetriebenes Antriebsritzel (6) eingreift und das Antriebsritzel (6) in Wirkverbindung mit einer Antriebswelle (9) steht,
wobei die Antriebswelle (9) durch die als Hohlwelle ausgebildete Gehäusewelle (8) geführt ist und mit einem ein Drehmoment (12) erzeugenden Antrieb auf dem Fahrgestell (4) in Wirkverbindung steht.Independent wheel suspension for a wheel (1) rolling on a support surface (15) with a wheel suspension housing (2) in which the wheel axle (3) for the wheel (1) is mounted,
and in which the wheel suspension housing (2) by means of a housing shaft (8) is rotatably mounted in the chassis (4), so that by the rotation of the housing shaft (8) relative to the chassis (4) a steering movement (14) of the wheel (1) opposite the support surface (15) is effected,
the wheel (1) in the wheel plane or parallel to it has a drive turntable (6) in which a driven drive pinion (6) engages and the drive pinion (6) is in operative connection with a drive shaft (9),
wherein the drive shaft (9) is guided by the hollow shaft designed as a housing shaft (8) and with a torque (12) generating drive on the chassis (4) is in operative connection.
Description
Die Erfindung betrifft eine Radaufhängung für ein antreibbares und lenkbares Rad mit vorzugsweise drei Freiheitsgraden in der Bewegung gegenüber einer Abstützfläche für das Rad, nämlich einer Drehbewegung um eine Radachse, einer Lenkbewegung um eine Senkrechte und einer Höhenverstellung der Radachse gegenüber der Abstützfläche.The The invention relates to a suspension for a drivable and steerable wheel with preferably three degrees of freedom in movement relative to a support surface for the wheel, namely a rotation about one Wheel axle, a steering movement about a vertical and a height adjustment the wheel axle opposite the support surface.
Derartige Einzelradaufhängungen sind bekannt z. B. bei angetriebenen Pendelachsen oder der McPherson-Radaufhängung. Das Rad ist an Querlenkern federnd abgestützt und kann unabhängig von den anderen Rädern ein- und ausfedern, wobei sich Spur und Sturz verändern.such Independent suspensions are known for. B. in driven Swing axles or the McPherson suspension. The wheel is resiliently supported on wishbones and can be independent from the other wheels spring in and out, with track and to change fall.
Aus
der
Beim
Fahrzeug nach der
Als Möglichkeiten für eine Hubvorrichtung werden Zylinder, Spindel oder Umlenkhebel genannt und das Beispiel einer Schwinge beschrieben.When Possibilities for a lifting device become cylinders, Spindle or lever called and the example of a rocker described.
Nachteilig ist, dass die Höhenverstellung separat und nicht konstruktiv mit dem Radantrieb vereint ist. Das verlangt einen erhöhten Platzbedarf und verlangt insbesondere bei Personenfahrzeugen einen zusätzlichen Bedarf an Verkleidungen.adversely is that the height adjustment is separate and not constructive united with the wheel drive. That requires an increased Requires space and especially in passenger vehicles one additional need for coverings.
Aufgabe der Erfindung ist es, eine kompakte Einzelradaufhängung vorzuschlagen, bei der das Rad antreib- und lenkbar ist und die die Höhenverstellbarkeit des Rades impliziert.task The invention is a compact independent suspension propose, in which the wheel is driven and steered and the the height adjustment of the wheel implies.
Gelöst wird diese Aufgabe mit den Merkmalen des Anspruches 1, vorteilhafte Ausgestaltungen sind Gegenstand der Unteransprüche.Solved This object is achieved with the features of claim 1, advantageous Embodiments are the subject of the dependent claims.
Erfindungsgemäß wird eine Einzelradaufhängung für ein auf einer Abstützfläche abrollendes Rad vorgeschlagen mit einem Radaufhängungsgehäuse, in dem die Radachse für das Rad gelagert ist, und bei der das Radaufhängungsgehäuse mittels einer Gehäusewelle drehbar im Fahrgestell gelagert ist, so dass durch die Drehung der Gehäusewelle gegenüber dem Fahrgestell eine Lenkbewegung des Rades gegenüber der Abstützfläche bewirkbar ist, das Rad in der Radebene oder parallel dazu einen Antriebsdrehkranz aufweist, in den ein angetriebenes Antriebsritzel eingreift und das Antriebsritzel in Wirkverbindung mit einer Antriebswelle steht, wobei die Antriebswelle durch die als Hohlwelle ausgebildete Gehäusewelle geführt ist und mit einem ein Drehmoment erzeugenden Antrieb auf dem Fahrgestell in Wirkverbindung steht.According to the invention an independent suspension for one on a support surface rolling wheel proposed with a suspension housing, in which the wheel axle is mounted for the wheel, and in the the suspension housing by means of a housing shaft is rotatably mounted in the chassis, so that by the rotation of Housing shaft relative to the chassis a steering movement of the wheel opposite the support surface is feasible, the wheel in the wheel plane or parallel to a drive turntable has, in which engages a driven drive pinion and the drive pinion is in operative connection with a drive shaft, wherein the drive shaft through the housing shaft designed as a hollow shaft is guided and with a torque generating drive is in operative connection on the chassis.
Diese Ausführung gestattet eine Lenkbewegung um 360° in alle Richtungen und impliziert die Möglichkeit der Höhenverstellung, indem die als Hohlwelle ausgebildete Gehäusewelle höhenverstellbar gegenüber der Abstützfläche im Fahrgestell angeordnet ist.These Design allows for a 360 ° steering movement all directions and implies the possibility of height adjustment, by the designed as a hollow shaft housing shaft height adjustable opposite the support surface in the chassis is arranged.
Anhand einer vorteilhaften Ausführung soll die Radaufhängung näher erläutert werden.Based an advantageous embodiment, the suspension should be explained in more detail.
Das
Radaufhängungsgehäuse
Verfügt
die Gehäusewelle
Die
Radachse
Zum
Antrieb weist das Rad
Dies
kann realisiert werden, indem die Antriebswelle
Diese
Ausführung gestattet neben einer Lenkbewegung um 360° in
alle Richtungen auch den Antrieb des Rades
Weiter
ist dargestellt, dass die als Hohlwelle ausgebildete Gehäusewelle
Dazu
weist die Gehäusewelle
Um
auch weiterhin die Antreibbarkeit des Rades
Die
mit der Gehäusewelle
Die vorgeschlagene Einzelradaufhängung gewährleistet somit eine Drehbewegung um eine Radachse, einer Lenkbewegung um eine Senkrechte um 360° und einer Höhenverstellung der Radachse gegenüber der Abstützfläche.The proposed independent suspension guaranteed thus a rotational movement about a wheel axle, a steering movement a vertical by 360 ° and a height adjustment the wheel axle opposite the support surface.
Ein Fahrzeug mit drei oder vier derartigen Radaufhängungen ist in alle Richtungen auf einer Fahrebene bewegbar, ohne dass es Wenderadien bedarf.One Vehicle with three or four such suspensions is movable in all directions on a driving plane without it Turn radii required.
Mit der vorteilhaften Ausbildung der Höhenverstellung verfügt das Fahrzeug auch über eine stufenüberwindende Kletterfunktion bzw. ermöglicht die Fahrt auf einer schiefen Ebene, ohne dass sich dabei jeweils die Lage der Fahrzeugplattform (Fahrgestell) verändert. Mit dem so ausgerüsteten Fahrzeug ist damit eine große Breite spezifischer Transportaufgaben zu bewältigen.With the advantageous embodiment of the height adjustment has the vehicle also over a gradüberüberwindende Climbing function or allows the ride on a crooked Level, without affecting each case the location of the vehicle platform (Chassis) changed. With the so equipped The vehicle is thus a wide range of specific transport tasks to manage something.
Als ein besonders interessanten Einsatzfall wir die Anwendung bei Behindertenfahrzeugen, insbesondere Rollstühlen gesehen.When a particularly interesting case of application is the application in handicapped vehicles, especially wheelchairs seen.
- 11
- Radwheel
- 22
- Radaufhängungsgehäusesuspension housing
- 33
- Radachsewheel axle
- 44
- Fahrgestellchassis
- 55
- AntriebsdrehkranzDrive turntable
- 66
- Antriebsritzelpinion
- 77
- AntriebszwischenräderIntermediate drive wheels
- 88th
-
Gehäusewelle
mit Antriebszahnstangenabschnitt
8.1 Housing shaft with drive rack section8.1 - 99
- Antriebswelledrive shaft
- 1010
- Antriebsraddrive wheel
- 1111
- AntriebszahnstangeDriving rack
- 1212
- Antriebsmomentdrive torque
- 1313
- Ritzel für Höhenverstellungpinion for height adjustment
- 1414
- Lenkbewegungsteering movement
- 1515
- Abstützflächesupporting
- 1616
- Ritzelantriebpinion drive
- 1717
- Gehäuse am Fahrgestellcasing on the chassis
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 102007016662 A1 [0003, 0004] - DE 102007016662 A1 [0003, 0004]
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202009003991U DE202009003991U1 (en) | 2009-03-17 | 2009-03-17 | Independent wheel suspension for a drivable and steerable wheel |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202009003991U DE202009003991U1 (en) | 2009-03-17 | 2009-03-17 | Independent wheel suspension for a drivable and steerable wheel |
DE102009013873A DE102009013873A1 (en) | 2009-03-17 | 2009-03-17 | Wheel suspension for use in wheelchair, has drive shaft guided by housing shaft designed as hollow shaft, where drive shaft stays in effective connection with drive on chassis frame and drive produces torque |
Publications (1)
Publication Number | Publication Date |
---|---|
DE202009003991U1 true DE202009003991U1 (en) | 2009-10-01 |
Family
ID=41131291
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE202009003991U Expired - Lifetime DE202009003991U1 (en) | 2009-03-17 | 2009-03-17 | Independent wheel suspension for a drivable and steerable wheel |
DE102009013873A Withdrawn DE102009013873A1 (en) | 2009-03-17 | 2009-03-17 | Wheel suspension for use in wheelchair, has drive shaft guided by housing shaft designed as hollow shaft, where drive shaft stays in effective connection with drive on chassis frame and drive produces torque |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102009013873A Withdrawn DE102009013873A1 (en) | 2009-03-17 | 2009-03-17 | Wheel suspension for use in wheelchair, has drive shaft guided by housing shaft designed as hollow shaft, where drive shaft stays in effective connection with drive on chassis frame and drive produces torque |
Country Status (1)
Country | Link |
---|---|
DE (2) | DE202009003991U1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012048750A1 (en) * | 2010-10-14 | 2012-04-19 | Wft Fertigungstechnik Gmbh & Co. Kg | Drive unit for a transport system and transport system comprising said drive unit |
FR2986749A1 (en) * | 2012-02-09 | 2013-08-16 | Akka Ingenierie Produit | Driving and steering wheel system for vehicle e.g. electric vehicle, has connection device comprising connection shaft with frame and direction leg and movably mounted to rotate around longitudinal axis of connection shaft |
FR2986765A1 (en) * | 2012-02-09 | 2013-08-16 | Akka Ingenierie Produit | Wheel steering system for e.g. electric vehicle, has connection device including connection shaft connected to frame, and direction leg intended to be connected to carrier and movably mounted in rotation around longitudinal axis of shaft |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111232051B (en) * | 2020-02-25 | 2021-05-14 | 东南大学 | Steering control method for wheeled mobile robot |
DE102021118141A1 (en) | 2021-07-14 | 2023-01-19 | Ebm-Papst St. Georgen Gmbh & Co. Kg | Wheel drive module for steering and driving a wheel |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007016662A1 (en) | 2007-04-04 | 2008-10-09 | Kuka Roboter Gmbh | Omnidirectional vehicle, driving module and mobile industrial robot |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT189509B (en) * | 1954-07-31 | 1957-04-10 | Pintsch Julius Ag | Steerable drive wheel, especially for three-wheeled electric carts |
DE1190396B (en) * | 1960-02-23 | 1965-04-01 | Kloeckner Humboldt Deutz Ag | Forklift |
DE102005046614A1 (en) * | 2005-09-29 | 2007-04-05 | Zf Friedrichshafen Ag | Drive unit used e.g. for electrically propelled industrial trucks has electronic control device for traction motor and for steering motor wherein traction motor is arranged between steering motor and electronic control device |
EP2030939B1 (en) * | 2007-08-31 | 2013-03-20 | BT Products AB | Industrial truck |
-
2009
- 2009-03-17 DE DE202009003991U patent/DE202009003991U1/en not_active Expired - Lifetime
- 2009-03-17 DE DE102009013873A patent/DE102009013873A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007016662A1 (en) | 2007-04-04 | 2008-10-09 | Kuka Roboter Gmbh | Omnidirectional vehicle, driving module and mobile industrial robot |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012048750A1 (en) * | 2010-10-14 | 2012-04-19 | Wft Fertigungstechnik Gmbh & Co. Kg | Drive unit for a transport system and transport system comprising said drive unit |
FR2986749A1 (en) * | 2012-02-09 | 2013-08-16 | Akka Ingenierie Produit | Driving and steering wheel system for vehicle e.g. electric vehicle, has connection device comprising connection shaft with frame and direction leg and movably mounted to rotate around longitudinal axis of connection shaft |
FR2986765A1 (en) * | 2012-02-09 | 2013-08-16 | Akka Ingenierie Produit | Wheel steering system for e.g. electric vehicle, has connection device including connection shaft connected to frame, and direction leg intended to be connected to carrier and movably mounted in rotation around longitudinal axis of shaft |
Also Published As
Publication number | Publication date |
---|---|
DE102009013873A1 (en) | 2010-09-23 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R207 | Utility model specification |
Effective date: 20091105 |
|
R156 | Lapse of ip right after 3 years |
Effective date: 20121002 |