DE69109453T2 - Lenkeinrichtung eines Förderfahrzeuges. - Google Patents
Lenkeinrichtung eines Förderfahrzeuges.Info
- Publication number
- DE69109453T2 DE69109453T2 DE69109453T DE69109453T DE69109453T2 DE 69109453 T2 DE69109453 T2 DE 69109453T2 DE 69109453 T DE69109453 T DE 69109453T DE 69109453 T DE69109453 T DE 69109453T DE 69109453 T2 DE69109453 T2 DE 69109453T2
- Authority
- DE
- Germany
- Prior art keywords
- steering device
- conveyor vehicle
- conveyor
- vehicle
- steering
- 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 - Fee Related
Links
Classifications
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
-
- 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
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
- B60K2007/0084—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/627,106 US5128598A (en) | 1990-12-13 | 1990-12-13 | Material handling vehicle steering system |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69109453D1 DE69109453D1 (de) | 1995-06-08 |
DE69109453T2 true DE69109453T2 (de) | 1995-09-07 |
Family
ID=24513203
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69109453T Expired - Fee Related DE69109453T2 (de) | 1990-12-13 | 1991-12-12 | Lenkeinrichtung eines Förderfahrzeuges. |
Country Status (4)
Country | Link |
---|---|
US (1) | US5128598A (de) |
EP (1) | EP0490673B1 (de) |
CA (1) | CA2054169A1 (de) |
DE (1) | DE69109453T2 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004006722A1 (de) * | 2004-02-11 | 2005-09-01 | Zf Friedrichshafen Ag | Lenk- und Radantrieb für ein Flurförderzeug |
US7588113B2 (en) | 2004-02-11 | 2009-09-15 | Zf Friedrichshafen Ag | Wheel drive |
DE102010001637A1 (de) * | 2010-02-05 | 2011-08-11 | ZF Friedrichshafen AG, 88046 | Antriebsanordnung für ein Flurförderfahrzeug |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5181173A (en) * | 1991-07-23 | 1993-01-19 | Raymond Corporation | Variable ratio steering system for a motor vehicle |
NL9300597A (nl) * | 1993-04-05 | 1994-11-01 | Terberg Benschop B V | Onbemand voertuig met schamelsturing. |
WO1994002890A1 (en) * | 1992-07-16 | 1994-02-03 | Terberg Benschop B.V. | Automatic guided vehicle and control system therefor |
JP3437199B2 (ja) * | 1992-10-28 | 2003-08-18 | アシスト シンコー株式会社 | クリーンルーム用無人搬送車 |
US5773991A (en) * | 1995-05-02 | 1998-06-30 | Texas Instruments Incorporated | Motor current sense circuit using H bridge circuits |
DE19625350C2 (de) * | 1996-06-25 | 2001-05-03 | Schwarzmueller Gmbh | Lenkvorrichtung für ein Fahrzeug |
DE19651897A1 (de) * | 1996-12-13 | 1998-06-18 | Erich Riethmueller | Gemeinsames Antriebs-, Brems- und Lenkungssystem für elektrisch getriebene Fahrzeuge |
DE19714786C1 (de) * | 1997-04-10 | 1998-10-22 | Danfoss As | Lenkeinrichtung |
US6491127B1 (en) * | 1998-08-14 | 2002-12-10 | 3Com Corporation | Powered caster wheel module for use on omnidirectional drive systems |
DE19951036A1 (de) * | 1999-10-22 | 2001-04-26 | Still Gmbh | Lenkvorrichtung für ein Fahrzeug |
JP3995412B2 (ja) * | 2000-12-25 | 2007-10-24 | Tcm株式会社 | 横行システムを持った作業車両 |
US6542801B2 (en) * | 2000-12-26 | 2003-04-01 | Nippon Yusoki Co., Ltd. | Power steering system |
US7017689B2 (en) * | 2004-05-06 | 2006-03-28 | Crown Equipment Corporation | Electrical steering assist for material handling vehicles |
DE102004048107B4 (de) * | 2004-10-02 | 2007-09-20 | Zf Lenksysteme Gmbh | Positionsabhängige Reibungskompensation für Lenksysteme |
DE102005017737A1 (de) * | 2005-04-15 | 2006-10-26 | Zf Friedrichshafen Ag | Antrieb für ein Flurförderzeug |
US7661493B2 (en) | 2005-04-19 | 2010-02-16 | Nmhg Oregon, Llc | Power assisted steering for motorized pallet truck |
DE102005035292A1 (de) * | 2005-07-28 | 2007-04-19 | Zf Friedrichshafen Ag | Antriebseinheit |
DE102005046614A1 (de) * | 2005-09-29 | 2007-04-05 | Zf Friedrichshafen Ag | Antriebseinheit |
DE102005047958A1 (de) * | 2005-10-06 | 2007-06-14 | Jungheinrich Ag | Antriebs- und Lenkvorrichtung für ein Flurförderzeug |
DE102005058400A1 (de) * | 2005-11-30 | 2007-05-31 | Jungheinrich Ag | Antriebs- und Lenkeinheit für ein Rad eines Flurförderzeugs |
DE102006060618A1 (de) * | 2006-12-21 | 2008-06-26 | Jungheinrich Ag | Antriebseinheit mit Fahr- und Lenkmotor für ein Antriebsrad eines Flurförderzeugs |
DE102007013172A1 (de) | 2007-03-20 | 2008-09-25 | Gebrüder Frei GbmH & Co. KG | Lenkantriebssystem |
JP5376347B2 (ja) * | 2009-06-19 | 2013-12-25 | 国立大学法人豊橋技術科学大学 | 操舵可能な駆動機構および全方向移動車 |
WO2014159996A1 (en) | 2013-03-14 | 2014-10-02 | Crown Equipment Corporation | Electrical steering assist features for materials handling vehicles |
CN104986036B (zh) * | 2015-06-15 | 2017-05-03 | 东莞市瑞鹏机器人自动化有限公司 | Agv舵轮驱动系统模块 |
US9582001B1 (en) * | 2015-10-07 | 2017-02-28 | X Development Llc | Motor system for vehicle steering and locomotion |
GB201618478D0 (en) | 2016-11-02 | 2016-12-14 | Qinetiq Ltd | Drive configuration |
CN110979506A (zh) * | 2019-12-17 | 2020-04-10 | 广州华恒物流有限公司 | Agv小车 |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2138898C3 (de) * | 1971-08-04 | 1975-10-02 | Fa. Arnold Mueller, 7312 Kirchheim | Regel barer Asynchronmotor mit einem Mehrfachrotorsystem |
US3768586A (en) * | 1971-11-23 | 1973-10-30 | Eaton Corp | Vehicle guidance system |
GB1475687A (en) * | 1973-05-25 | 1977-06-01 | Int Research & Dev Co Ltd | Homopolar dynamo-electric machines |
US3898490A (en) * | 1973-09-24 | 1975-08-05 | Westinghouse Electric Corp | Superconductive AC dynamoelectric machines having two rotors |
US3973137A (en) * | 1975-06-16 | 1976-08-03 | Dezso Donald Drobina | Multi-rotor electric motor |
US4329606A (en) * | 1979-12-10 | 1982-05-11 | General Scanning, Inc. | Electric motor construction |
US4387325A (en) * | 1981-04-15 | 1983-06-07 | Invacare Corporation | Electric wheelchair with speed control circuit |
US4375047A (en) * | 1981-07-23 | 1983-02-22 | General Signal Corporation | Torque compensated electrical motor |
US4373147A (en) * | 1981-07-23 | 1983-02-08 | General Signal Corporation | Torque compensated electric motor |
DE3137101A1 (de) * | 1981-09-17 | 1983-03-24 | Kraftwerk Union AG, 4330 Mülheim | Zweiachsiger elektrischer kompaktantrieb, insbesondere stellantrieb |
US4519466A (en) * | 1982-03-30 | 1985-05-28 | Eiko Shiraishi | Omnidirectional drive system |
US4513839A (en) * | 1983-05-06 | 1985-04-30 | Yale Materials Handling Corporation | Disc brake arrangement for steering and traction unit |
US4573548A (en) * | 1983-07-23 | 1986-03-04 | Cybermation, Inc. | Mobile base for robots and the like |
JPS61110669A (ja) * | 1984-11-02 | 1986-05-28 | Honda Motor Co Ltd | 電磁型倍力装置 |
JPS61235220A (ja) * | 1985-04-10 | 1986-10-20 | Casio Comput Co Ltd | 全方向移動車 |
JPS62258862A (ja) * | 1986-05-06 | 1987-11-11 | Aisin Seiki Co Ltd | 電動パワ−ステアリング装置 |
US4772875A (en) * | 1986-05-16 | 1988-09-20 | Denning Mobile Robotics, Inc. | Intrusion detection system |
JPH0625933B2 (ja) * | 1986-10-02 | 1994-04-06 | 科学技術庁航空宇宙技術研究所長 | 複合偏心型回転子による電動直接駆動位置決め装置 |
US4939653A (en) * | 1987-07-29 | 1990-07-03 | Honda Giken Kogyo Kabushiki Kaisha | Method of and apparatus for controlling steering operation of a motor vehicle with steerable front and rear wheels |
JP2532105B2 (ja) * | 1987-09-17 | 1996-09-11 | 本田技研工業株式会社 | 前後輪操舵車両の操舵制御装置 |
JPH01123460U (de) * | 1988-02-12 | 1989-08-22 |
-
1990
- 1990-12-13 US US07/627,106 patent/US5128598A/en not_active Expired - Fee Related
-
1991
- 1991-10-24 CA CA002054169A patent/CA2054169A1/en not_active Abandoned
- 1991-12-12 DE DE69109453T patent/DE69109453T2/de not_active Expired - Fee Related
- 1991-12-12 EP EP91311557A patent/EP0490673B1/de not_active Expired - Lifetime
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004006722A1 (de) * | 2004-02-11 | 2005-09-01 | Zf Friedrichshafen Ag | Lenk- und Radantrieb für ein Flurförderzeug |
US7588113B2 (en) | 2004-02-11 | 2009-09-15 | Zf Friedrichshafen Ag | Wheel drive |
US7591340B2 (en) | 2004-02-11 | 2009-09-22 | Zf Friedrichshafen Ag | Steering and driving system for an industrial truck |
DE102010001637A1 (de) * | 2010-02-05 | 2011-08-11 | ZF Friedrichshafen AG, 88046 | Antriebsanordnung für ein Flurförderfahrzeug |
Also Published As
Publication number | Publication date |
---|---|
EP0490673B1 (de) | 1995-05-03 |
EP0490673A1 (de) | 1992-06-17 |
CA2054169A1 (en) | 1992-06-14 |
US5128598A (en) | 1992-07-07 |
DE69109453D1 (de) | 1995-06-08 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8339 | Ceased/non-payment of the annual fee |