EP0000296A1 - Drive system for vehicles, especially for lift trucks. - Google Patents

Drive system for vehicles, especially for lift trucks. Download PDF

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Publication number
EP0000296A1
EP0000296A1 EP78400004A EP78400004A EP0000296A1 EP 0000296 A1 EP0000296 A1 EP 0000296A1 EP 78400004 A EP78400004 A EP 78400004A EP 78400004 A EP78400004 A EP 78400004A EP 0000296 A1 EP0000296 A1 EP 0000296A1
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EP
European Patent Office
Prior art keywords
driving
vehicle
transmission device
wheel
transmission
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.)
Granted
Application number
EP78400004A
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German (de)
French (fr)
Other versions
EP0000296B1 (en
Inventor
Georges Itey-Bernard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Regie Nationale des Usines Renault
Original Assignee
Renault SAS
Regie Nationale des Usines Renault
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Publication of EP0000296A1 publication Critical patent/EP0000296A1/en
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Expired legal-status Critical Current

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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
    • 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
    • B60K17/342—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a longitudinal, endless element, e.g. belt or chain, for transmitting drive to wheels
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/42—Fork lift trucks
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19014—Plural prime movers selectively coupled to common output

Definitions

  • the invention due to the collaboration of M. Georges ITEY - BERNARD relates to a device for transmitting movement to the wheels of a vehicle such as a forklift with driving axles, which comprises at least one engine generating the driving force and one speed reduction mechanism, controlling the rotation of a driving wheel of the vehicle.
  • the transmission devices which on certain vehicles control each drive wheel individually can be classified into two distinct types: those which include a planetary reduction gear on the one hand, and on the other hand, those which include a reduction device with belts and bevel pulleys .
  • Reducers of these two types have the drawback of being bulky, which means that the driving wheel which they control is moved aside laterally from the vehicle.
  • the generally excessive length of these mechanisms is due to the stacking in the axial direction of their various elements which include: the engine, the normal and parking brakes as well as a reduction gear with several stages. This footprint specific to most conventional groups is particularly troublesome when they are + mented on vehicles such as forklifts, whose overall length and radius of gyration, must be as small as possible, to ensure a maximum maneuverability.
  • a control mechanism of a motor valley not only have a longevity greater than that of conventional mechanisms, but also that it is produced in a tolle manner that all the reduction gears are housed close of the rim of the wheel, that the brakes, which are an integral part of the mechanism, are very accessible, to facilitate their maintenance and that, in general, this mechanism is relatively inexpensive, and is characterized by its simplicity and the ease with which it can be disassembled and reassembled.
  • the invention also relates to a transmission device which uses many identical components, the arrangement of which makes it possible to free the central part of the vehicle.
  • the invention also relates to a transmission device with two motors, the coupling or separate operation of which allows the vehicle to evolve in the desired speed range.
  • the motor generating the driving force drives the speed reducing mechanism associated with each driving wheel of the vehicle, including a drive element of said driving wheel, allows the transmission of the driving force of an element input to an output element, respectively driven by a transmission member, while a brake of said drive element, slows down said wheel and that another motor generating the driving force, also drives a mechanism reducer of the same structure, said motors and reducers jointly producing a kinematic chain arranged at the periphery of the chassis of the vehicle to drive it from all of the drive wheels.
  • the transmission device thus produced allows the elimination of conventional drive axles consisting of wheel shafts associated with a differential mechanism.
  • Such a transmission device is therefore particularly well suited for driving forklifts or other vehicles, the load-carrying device of which can occupy a horizontal storage position between the front and rear axles.
  • FIG. 1 is a plan view of the chassis of the vehicle on which have been shown diagrammatically. the organs of the transmission device.
  • Figure 2 is a view developed as a transmission device.
  • the vehicle is a fork lift truck of the type comprising four driving wheels forming part of the front driving axles 1 and rear 2.
  • a motor (which can be electric) I generator of the driving force, (it should be noted that this motor can be just as thermal or hydraulic) is powered by a beet B and is clamped on the chassis of the carriage. It directly drives a pulley 3. The latter receives a flexible transmission member such as a driving belt 4, which drives a pulley constituting the input element 5 of a speed reduction mechanism designated as a whole by the reference R1 .
  • the reduction gear R1 which we will now describe is associated with the left front wheel of axle 1.
  • reduction mechanisms R2, R3, R4, of the same structure as the mechanism R1 are respectively associated with the other wheels of the vehicle such as the left and right rear wheels of the rear axle 2 and the right front wheel of the front axle 1.
  • the reduction mechanisms R2, R3, R4 therefore need not be described.
  • the mechanism R1 shown in more detail in FIG. 2 essentially comprises an input element 5, the external part of which is produced in the form of a pulley conventionally called driving pulley, and the internal part of which carries the toothing of a planetary ring 7 with which a satellite 8 meshes.
  • Satellites 8 and 9 are fixed by means of axes to a planet carrier 13.
  • the latter consists of two flanges 14, 15 supporting the axes of the satellites 8, 9.
  • Axes 16, 17 constitute the bearing bearings of the planetary rings 11, 7 and are rigidly connected to the flanges 14, 15 while extending axially towards the outside of the mechanism, in order to carry out the driving of a pump.
  • auxiliary 18 and bevel gear 19 driving the left front wheel of the axle 1.
  • the pump 18, of small displacement supplies a hydraulic circuit to the auxiliaries such as the power steering and the control circuit of the various disc brakes. preferably mount pump 18 on mechanism R1 because the latter is in constant connection with the motor I, whose miss in tension is uninterrupted during the movements of handling and evolution of the carriage.
  • the reduction mechanisms R2 and R3 drive, similar to that of the mechanism R1, a pump 28 and 48.
  • the kinematics of the mechanism show that the direction of rotation of the pulley 5 is opposite to the direction of rotation of the pulley 12.
  • the speed of the planet carrier is proportional to the speed of the corresponding vehicle wheel.
  • the speed of rotation of the pulley 5 is equal to the speed of rotation of the pulley 12 when the satelli'as carrier is stopped .
  • the driven pulley 12 of the mechanism R1 is mechanically connected to the driving pulley 20 of the mechanism R2 by means of the transmission member represented in the form of a belt 25.
  • the driven pulley 26 of the R2 mechanism L is connected mechanically to the drive pulley 27 of R3 mechanism by means of a belt 21.
  • the driven pulley 29 of the mechanism R3 is mechanically connected to the driving pulley 30 of the mechanism R4 by means of a belt 31.
  • the driven pulley 32 of the mechanism R4 is mechanically connected to the driving pulley 33 of an electric motor II, powered by the battery B, by means of a belt 34.
  • the electric motor II is also clamped on the chassis of the carriage.
  • connections shown make it possible to connect: the left front wheel to the left rear wheel by the belt 25; the left rear wheel to the right rear wheel by the belt 21; the right rear wheel to the right front wheel by the belt 31.
  • the advantage of such a kinematics lies in the fact that any connection between the front wheels of the vehicle is avoided.
  • the operation of the transmission is as follows: If the positive direction of rotation is chosen for the motor I, the pulley 3, and for the driving pulley 5, the driven pulley 12, and the driving pulley 20 of the mechanism R2 rotate in the negative meaning. It is deduced therefrom that the directions of rotation of the planet carriers of the mechanisms R1 and R2 are opposite to each other.
  • the speed of rotation of the driving pulleys is transmitted to the driven pulleys with change of the direction of rotation of the pulleys.
  • the motor II which is not supplied will therefore rotate at the speed of the motor I if the pulleys 3 and 33 are of the same diameter.
  • the inertia of the motor II generates a reaction torque on all the planet carriers of the four mechanisms R1, R2, R3, R4. This reaction torque of the motor II will generally be insufficient to start the carriage.
  • the start of the carriage will be obtained as a result of the blocking of the driven pulley 32 of the mechanism R4 under the action of a disc brake 35 whose braking force is applied to a disc 36 secured to the driven pulley 32 .
  • the driving pulley 5 of the mechanism R1 can be immobilized by a disc brake 37 whose braking force is applied to a disc 38 integral with the driving pulley 5.
  • a numerical example based on a rotation speed of 3000 rpm of the motor and a rotation speed of 375 rpm for each planet carrier, makes it possible to show very simply that the second motor remains stationary when the carriage is moving at half speed on flat ground.
  • the driving pulleys 5 and 32 of the mechanisms R1 and R4 rotate at the speed of the moters, equal, according to the nonlimiting example, to 3000 rpm. If the planet carrier rotation speed is 750 rpm when the carriage is moving at full speed in a straight line, a simple demonstration shows that the driven pulley 26 and the driving pulley 27 are at zero speed. This advantageous property of the transmission therefore makes it possible to stop the pumps 28 and 48 mounted on the reduction mechanisms R2 and R3.
  • the pumps 28 and 48 provide the elevation control of a load-bearing plate linked to the chassis of the carriage, it can be seen that it is impossible to maneuver the load-bearing plate in a straight line at full translation speed.
  • the trolley therefore provides better safety of use and allows a substantial saving of energy due to - the automatic stopping of pumps 28 and 48. It is nevertheless accepted that the lifting of the load-carrying plate can take place up to that the carriage reaches half its maximum speed with a single motor and that the rapid lifting of the load-bearing plate can take place when the carriage is stopped, the two motors I, II rotating as before at the same speed and in the opposite direction.
  • the direction of travel is inverted automatically by cutting off the supply to motor I and by supplying motor II, previously stationary, after reversing its direction of rotation. This change of power supply to the motors can be carried out even when the carriage is moving forward, st is not detrimental to their proper functioning.
  • the direction of torque transmission from engine II, to engine I, ensures reverse starting after application of brake 37.
  • the transmission also makes it possible to economically obtain numerous transmission ratios which are close to one another without appreciable modification of the acceleration of the vehicle, just as a substantially more complicated electronic engine regulation device would do.
  • the device illustrated by way of example is not limiting, it may in particular use reduction mechanisms whose gear satellites are replaced by cylindrical friction rollers movable between coaxial tracks.
  • brakes used 39, 40 and 35, 37 will preferably be disc brakes because the transmission lends itself to it by the presence of vertical shafts 17 linking the reduction mechanisms to the bevel gears 19.
  • the shaft 17 has a sufficiently multiplied speed to allow the use of small discs and lockable brakes outside the corresponding braking wheel.

Abstract

Secteur technique : transmission de mouvement aux roues motrices d'un véhicule.Technical sector: movement transmission to the driving wheels of a vehicle.

b) Caractéristique technique principale : le moteur (1 ou II) générateur de la force motrice entraîne le mécanisme réducteur de vitesse (R1, R2, R3, R4) associé à chaque roue motrice du véhicule dont l'élément d'entraînement (17) assure la transmission de la force motrice d'un élément d'entrée (5) à un élément de sortie (12) du mécanisme réducteur, respectivement entraînés par un organe de transmission (4,25), tandis qu'un frein (39,40) dudit élément d'entraînement (17) de la roue, assure le ralentissement de ladite roue ; un deuxième générateur d'entraînement (II), des mêmes mécanismes réducteurs, réalise isolément, la transmission en marche arrière, et conjointement avec le premiergéné- rateur, l'évolution du véhicule à vitesse maximale.b) Main technical characteristic: the motor (1 or II) generating the driving force drives the speed reduction mechanism (R1, R2, R3, R4) associated with each driving wheel of the vehicle including the drive element (17) ensures the transmission of the driving force from an input element (5) to an output element (12) of the reduction mechanism, respectively driven by a transmission member (4,25), while a brake (39, 40) of said drive element (17) of the wheel, slows down said wheel; a second drive generator (II), of the same reduction mechanisms, performs the transmission in reverse, and jointly with the first generator, the evolution of the vehicle at maximum speed.

c) Application principale : entraînement de chariots élévateurs.

Figure imgaf001
c) Main application: driving forklifts.
Figure imgaf001

Description

L'invention due à la collaboration de M. Georges ITEY - BERNARD concerne un dispositif de transmission de mouvement aux roues d'un véhicule tel qu'un chariot élévateur à essieux moteurs, qui comprend au moins un moteur générateur de la force motrice et un mécanisme réducteur de vitesse,commandant la rotation d'une roue motrice du véhicule.The invention due to the collaboration of M. Georges ITEY - BERNARD relates to a device for transmitting movement to the wheels of a vehicle such as a forklift with driving axles, which comprises at least one engine generating the driving force and one speed reduction mechanism, controlling the rotation of a driving wheel of the vehicle.

Les dispositifs de transmission qui sur certains véhicules commandent individuellement chaque roue motrice peuvent être classés en deux types distincts : ceux qui comprennent un réducteur planétaire d'une part,et d'autre part,ceux qui comprennent un dispositif de réduction à courroies et poulies coniques. Les réducteurs de ces deux types ont l'inconvénient d'être encombrants, ce qui oblige à écarter latéralement du véhicule la roue motrice qu'ils commandent. La longrsur généralement excessive de ces mécanismes est due à l'empilage dans le sens axial de leurs différents éléments qui comprennent:le moteur, les freins normaux et de parcage ainsi qu'un train réducteur à plusieurs étages. Cet encombrement propre à la plupart des groupes classiques est particulièrement gênant lorsqu'ils son+ mentés sur des véhicules tels que des chariots élévateurs à fourche, dont la longueur hors tout et son rayon de giration,doivent être les plus petits possibles, pour leur assurer une manoeuvrabilité maximale.The transmission devices which on certain vehicles control each drive wheel individually can be classified into two distinct types: those which include a planetary reduction gear on the one hand, and on the other hand, those which include a reduction device with belts and bevel pulleys . Reducers of these two types have the drawback of being bulky, which means that the driving wheel which they control is moved aside laterally from the vehicle. The generally excessive length of these mechanisms is due to the stacking in the axial direction of their various elements which include: the engine, the normal and parking brakes as well as a reduction gear with several stages. This footprint specific to most conventional groups is particularly troublesome when they are + mented on vehicles such as forklifts, whose overall length and radius of gyration, must be as small as possible, to ensure a maximum maneuverability.

Il est donc souhaitable qu'un mécanisme de commande d'une noue motrice ait non seulement une longévité supérieure à celle des mécanismes classiques,mais encore qu'il soit réalisé d'une manière tolle que l'ensemble des pignons réducteurs soit logé à proximité de la jante de la roue, que les freins,qui font partie intégranto du mécanisme,soient très accessibles,pour faciliter leur entretien et que,d'une manière générale, ce mécanisme soit relativement peu coûteux,et se caractérise par sa simplicité et la facilité avec laquelle on peut le démonter et le remonter.It is therefore desirable that a control mechanism of a motor valley not only have a longevity greater than that of conventional mechanisms, but also that it is produced in a tolle manner that all the reduction gears are housed close of the rim of the wheel, that the brakes, which are an integral part of the mechanism, are very accessible, to facilitate their maintenance and that, in general, this mechanism is relatively inexpensive, and is characterized by its simplicity and the ease with which it can be disassembled and reassembled.

L'invention a également pour objet un dispositif de transmission qui utilise de nombreux composants identiques, dont l'agencement permet de libérer la partie centrale du véhicule.The invention also relates to a transmission device which uses many identical components, the arrangement of which makes it possible to free the central part of the vehicle.

L'invention a encore pour objet un dispositif de transmission à deux moteurs dont le couplage ou le fonctionnement sépare permet une évolution du véhicule dans la plage de vitesses souhaitée.The invention also relates to a transmission device with two motors, the coupling or separate operation of which allows the vehicle to evolve in the desired speed range.

Conformément à l'invention,le moteur générateur de la force motrice,entraîne le mécanisme réducteur de vitesse associé à chaque roue motrice du véhicule, dont un élément d'entraînement de ladite roue motrice,permet la transmission de la force motrice d'un élément d'entrée à un élément de sortie, respectivement entraînés par un organe de transmission, tandis qu'un frein dudit élément d'entraînement,assure le ralentissement de ladite roue et qu'un autre moteur générateur de la force motrice,entraîne également un mécanisme réducteur de même structure, lesdits moteurs et réducteurs réalisant conjointement une chaîne cinématique disposée à la périphérie du châssis du véhicule pour l'entraînèrent de l'ensemble des roues motrices.According to the invention, the motor generating the driving force, drives the speed reducing mechanism associated with each driving wheel of the vehicle, including a drive element of said driving wheel, allows the transmission of the driving force of an element input to an output element, respectively driven by a transmission member, while a brake of said drive element, slows down said wheel and that another motor generating the driving force, also drives a mechanism reducer of the same structure, said motors and reducers jointly producing a kinematic chain arranged at the periphery of the chassis of the vehicle to drive it from all of the drive wheels.

Le dispositif de transmission ainsi réalisé permet la suppression des essieux moteurs conventionnels constitués d'arbres de roues associés à un mécanisme différentiel.The transmission device thus produced allows the elimination of conventional drive axles consisting of wheel shafts associated with a differential mechanism.

Un tel dispositif de transmission est par conséquent particulièrement bien adapté pour entraîner les chariots élévateurs ou autres engins,dont le dispositif porte-charge peut occu- pei une position de rangement horizontale entre les essieux avant et arrière.Such a transmission device is therefore particularly well suited for driving forklifts or other vehicles, the load-carrying device of which can occupy a horizontal storage position between the front and rear axles.

D'autres caractéristiques et avantages du dispositif ressortiront de la description d'un exemple dc réalisation de celui-ci, faite en référence au dessin annexé, dans lequel la figure 1 est une vue en plan du'châssis du véhicula sur lequel ont été schématisés les organes du dispositif de transmission. La figure 2 est une vue développée en dispositif de transmission.Other characteristics and advantages of the device will emerge from the description of an exemplary embodiment thereof, made with reference to the attached drawing, in which FIG. 1 is a plan view of the chassis of the vehicle on which have been shown diagrammatically. the organs of the transmission device. Figure 2 is a view developed as a transmission device.

En référence aux figures 1 et 2,on voit que le véhicule est un chariot élévateur à fourche du type comportant quatre roues motrices faisant partie des essieux moteurs avant 1 et arrière 2.With reference to FIGS. 1 and 2, it can be seen that the vehicle is a fork lift truck of the type comprising four driving wheels forming part of the front driving axles 1 and rear 2.

Un moteur (qui peut être électrique) I générateur de la force motrice, (il est à noter que ce moteur peut être tout aussi bien thermique ou hydraulique) est alimenté par une betterie B et est bridé sur le châssis du chariot. Il entraîne directement une poulie 3. Cette dernière reçoit un organe de transmission souple tel qu'une courroie menante 4,qui entraîne une poulie constituant l'élément d'entrée 5 d'un mécanisme réducteur de vitesse désigné dans son ensemble par la référence R1. Le réducteur R1 que nous allons décrire maintenant est associé à la roue avant gauche de l'essieu 1. De même des mécanismes réducteurs R2, R3, R4, de même structure que le mécanisme R1 sont respectivement associés aux autres roues du véhicule telles que les roues arrière gauche et droite de l'essieu arrière 2 et la roue avant droits de l'essieu avant 1. Les mécanismes réducteurs R2, R3, R4 n'ont donc pas à être décrits.A motor (which can be electric) I generator of the driving force, (it should be noted that this motor can be just as thermal or hydraulic) is powered by a beet B and is clamped on the chassis of the carriage. It directly drives a pulley 3. The latter receives a flexible transmission member such as a driving belt 4, which drives a pulley constituting the input element 5 of a speed reduction mechanism designated as a whole by the reference R1 . The reduction gear R1 which we will now describe is associated with the left front wheel of axle 1. Similarly, reduction mechanisms R2, R3, R4, of the same structure as the mechanism R1 are respectively associated with the other wheels of the vehicle such as the left and right rear wheels of the rear axle 2 and the right front wheel of the front axle 1. The reduction mechanisms R2, R3, R4 therefore need not be described.

Le mécanisme R1 représenté plus en détail à la figure 2 comprend essentiellement un élément d'entrée 5,dont la partie externe est réalisée sous la forme d'une poulie appelée par convention poulie menante,et dont la partie interne porte la denture d'une couronne planétaire 7 avec laquelle engrène un satellite 8. Un autre satellite 9,engrène avec le satellite 8,et avec l'élément de sortie 10,également constitué par une couronne planétaire 11 et par une poulie appelée par convention poulie menée 12. Les satellites 8 et 9 sont fixés au moyen d'axes à un porte-satellites 13. Ce dernier est constitué par deux flasques 14, 15 support d'axes des satellites 8, 9.The mechanism R1 shown in more detail in FIG. 2 essentially comprises an input element 5, the external part of which is produced in the form of a pulley conventionally called driving pulley, and the internal part of which carries the toothing of a planetary ring 7 with which a satellite 8 meshes. Another satellite 9, meshes with satellite 8, and with the output element 10, also constituted by a planetary ring 11 and by a pulley conventionally called driven pulley 12. Satellites 8 and 9 are fixed by means of axes to a planet carrier 13. The latter consists of two flanges 14, 15 supporting the axes of the satellites 8, 9.

Des axes 16, 17,constituent les paliers porteurs des couronnes planétaires 11, 7 et sont rigidement reliés aux flasques 14, 15 tout en s'étendant axialement vers l'extérieur du mécanisme,dans le but de réaliser l'entraînement d'une pompe auxiliaire 18 et dupignon conique 19 d'entraînement de la roue avant gauche de l'essieu 1. La pompe 18, de petite cylindrée, alimente un circuit hydraulique des auxiliaires tels que la direction assistée et le circuit de commande des divers freins à disque on monte de préférence la pompe 18 sur le mécanisme R1 car ce dernier est en liaison constante avec le moteur I dont la miss en tension est ininterrompue pendant les mouvements de manutention et d'évolution du chariot.Axes 16, 17 constitute the bearing bearings of the planetary rings 11, 7 and are rigidly connected to the flanges 14, 15 while extending axially towards the outside of the mechanism, in order to carry out the driving of a pump. auxiliary 18 and bevel gear 19 driving the left front wheel of the axle 1. The pump 18, of small displacement, supplies a hydraulic circuit to the auxiliaries such as the power steering and the control circuit of the various disc brakes. preferably mount pump 18 on mechanism R1 because the latter is in constant connection with the motor I, whose miss in tension is uninterrupted during the movements of handling and evolution of the carriage.

Les mécanismes réducteurs R2 et R3 entraînent de manière analogue, a celle du mécanisme R1,une pompe 28 et 48.The reduction mechanisms R2 and R3 drive, similar to that of the mechanism R1, a pump 28 and 48.

Il est évident que la poulie menante 5 transmet à la poulie menée 12 l'intégralité du couple et de l'effort tangentiel, du fait que les couronnes planétaires 7, 11 et les satellites correspondants 8, 9 sont identiques.It is obvious that the driving pulley 5 transmits to the driven pulley 12 the entire torque and the tangential force, because the planetary rings 7, 11 and the corresponding satellites 8, 9 are identical.

La cinématique du mécanisme met en évidence que le sens de rotation de la poulie 5 est inverse au sens de rotation de la poulie 12.The kinematics of the mechanism show that the direction of rotation of the pulley 5 is opposite to the direction of rotation of the pulley 12.

La vitesse de rotation du porte-satellites est proportionnelle à la vitesse de rotation de la roue correspondante du véhicule.The speed of the planet carrier is proportional to the speed of the corresponding vehicle wheel.

Du fait de l'emploi de couronnes planétaires 7, 11 identiques et des satellites 8, 9 également identiques, la vitesse de rotation de la poulie 5 est égale à la vitesse de rotation de la poulie 12 lorsque le porte-satelli'as est arrêté.Due to the use of identical planetary rings 7, 11 and equally identical satellites 8, 9, the speed of rotation of the pulley 5 is equal to the speed of rotation of the pulley 12 when the satelli'as carrier is stopped .

La poulie menée 12 du mécanisme R1 est reliée mécaniquement à la poulie menante 20 du mécanisme R2 au moyen de l'organe de transmission représenté sous la forme d'une courroie 25.The driven pulley 12 of the mechanism R1 is mechanically connected to the driving pulley 20 of the mechanism R2 by means of the transmission member represented in the form of a belt 25.

De même la poulie menée 26 du mécanisme R2 est reliée Lécaniquement à la poulie menante 27 du mécanisme R3 au moyen d'une courroie 21.Similarly, the driven pulley 26 of the R2 mechanism L is connected mechanically to the drive pulley 27 of R3 mechanism by means of a belt 21.

La poulie menée 29 du mécanisme R3 est reliée mécaniquement à la poulie menante 30 du mécanisme R4 au moyen d'une courroie 31.The driven pulley 29 of the mechanism R3 is mechanically connected to the driving pulley 30 of the mechanism R4 by means of a belt 31.

Enfin la poulie menée 32 du mécanisme R4 est reliée mécaniquement à la poulie motrice 33 d'un moteur électrique II,alimenté par la batterie B, au moyen d'une courroie 34. Le moteur électrique II est également bridé sur le châssis du chariot.Finally, the driven pulley 32 of the mechanism R4 is mechanically connected to the driving pulley 33 of an electric motor II, powered by the battery B, by means of a belt 34. The electric motor II is also clamped on the chassis of the carriage.

On remarque que les mécanisues R1, R2, R3, R4 sont réunis entreeux au moyen de liaisons souples formées par les diverses courroies qui dessinent un U.It is noted that the mechanics R1, R2, R3, R4 are joined together by means of flexible connections formed by the various belts that draw a U.

Les liaisons représentées permettent de relier : la roue avant gauche à la roue arrière gauche par la courroie 25 ; la roue arrière gauche à la roue arrière droite par la courroie 21 ; la roue arrière droite à la roue avant droite par la courroie 31. L'intérêt d'unetelle cinématique réside dans le fait que l'on évite toute liaison entre les roues avant du véhicule.The connections shown make it possible to connect: the left front wheel to the left rear wheel by the belt 25; the left rear wheel to the right rear wheel by the belt 21; the right rear wheel to the right front wheel by the belt 31. The advantage of such a kinematics lies in the fact that any connection between the front wheels of the vehicle is avoided.

Le fonctionnement de la transmission est le suivant : Si l'on choisit le sens de rotation positif pour le moteur I, la poulie 3,et pour la poulie menante 5, la poulie menée 12,et la poulie menante 20 du mécanisme R2 tournent dans le sens négatif. On en déduit que les sens de rotation des porte-satellites des mécanismes R1 et R2 sont inverses l'un et l'autre.The operation of the transmission is as follows: If the positive direction of rotation is chosen for the motor I, the pulley 3, and for the driving pulley 5, the driven pulley 12, and the driving pulley 20 of the mechanism R2 rotate in the negative meaning. It is deduced therefrom that the directions of rotation of the planet carriers of the mechanisms R1 and R2 are opposite to each other.

Les pignons coniques tels que 19,correctement disposés sur les axes 17 des porte-satellites,entraînent l'ensemble des roues du chariot dans le même sens.The bevel gears such as 19, correctly arranged on the axes 17 of the planet carriers, drive all of the wheels of the carriage in the same direction.

1 - Démarrage1 - Starting

L'ensemble des porte-satellites est immobile puisque les roues du chariot ne tournent pas.All the planet carriers are stationary since the wheels of the carriage do not rotate.

La vitesse de rotation des poulies menantes est transmise aux poulies menées avec changement du sens de rotation des poulies. Le moteur II qui n'est pas alimenté va donc tourner à la vitesse du moteur I si les poulies 3 et 33 sont de même diamètre. L'inertie du moteur II engendre un couple de réaction sur l'ensemble des porte-satellites des quatre mécanismes R1, R2, R3, R4. Ce couple de réaction du moteur II sera généralement insuffisant pour démarrer le chariot. Toutefois, le démarrage du chariot sera obtenu par suite du blocage de la poulie menée 32 du mécanisme R4 sous l'action d'un frein à disque 35 dont l'effort de freinage s'applique sur un disque 36 solidaire de la poulie menée 32.The speed of rotation of the driving pulleys is transmitted to the driven pulleys with change of the direction of rotation of the pulleys. The motor II which is not supplied will therefore rotate at the speed of the motor I if the pulleys 3 and 33 are of the same diameter. The inertia of the motor II generates a reaction torque on all the planet carriers of the four mechanisms R1, R2, R3, R4. This reaction torque of the motor II will generally be insufficient to start the carriage. However, the start of the carriage will be obtained as a result of the blocking of the driven pulley 32 of the mechanism R4 under the action of a disc brake 35 whose braking force is applied to a disc 36 secured to the driven pulley 32 .

De manière analogue le démarrage peut être obtenu par le moteur II, le moteur I n'étant pas alimenté. Pour faciliter ce démarrage,la poulie menante 5 du mécanisme R1 peut être immobilisée par un frein à disque 37 dont l'effort de freinage s'applique sur un disque 38 solidaire de la poulie menante 5.Similarly, starting can be obtained by motor II, motor I not being supplied. To facilitate this start-up, the driving pulley 5 of the mechanism R1 can be immobilized by a disc brake 37 whose braking force is applied to a disc 38 integral with the driving pulley 5.

Le choix de la démultiplication qui lie le moteur II au mécanisme R4,ou le moteur I au mécanisme R1 et de la démultiplication obtenue par les engrenages à pignon conique 19, permet déjà l'entraînement du chariot sur sol plat à l'aide d'un seul moteur,jusqu'à ce que la vitesse obtenue soit égale à la moitié de la vinsse maximale. Selon un mode de réalisation préférentiel, l'ensemble des quatre mécanismes réducteurs R1, R2, R3, R4 liés an série,assurent un rapport de réduction 1 : 8 de la vitesse initiale du moteur d'entraînement en service, chacun des mécanismes permettant de réduire la vitesse d'entrée de moitié.The choice of the reduction ratio which links the motor II to the mechanism R4, or the motor I to the mechanism R1 and the reduction ratio obtained by the bevel gears 19, already allows the carriage to be driven on flat ground using a single engine, until the speed obtained is equal to half the maximum speed. According to a preferred embodiment, all four reduction mechanisms R1, R2, R3, R4 linked in series, provide a reduction ratio 1: 8 of the initial speed of the drive motor in service, each of the mechanisms making it possible to reduce the input speed by half.

Un exemple numérique basé sur une vitesse de rotation de 3000 tr/min du moteur et une vitesse de rotation de 375 tr/min pour chaque porte-satellites,permet de montrer très simplement que le deuxième moteur reste immobile lorsque le chariot évolue à mi-vitesse sur sol plat.A numerical example based on a rotation speed of 3000 rpm of the motor and a rotation speed of 375 rpm for each planet carrier, makes it possible to show very simply that the second motor remains stationary when the carriage is moving at half speed on flat ground.

2 - Les moteurs I et II tournent à la même vitesse N avec des sens de rotation opposés.2 - Motors I and II rotate at the same speed N with opposite directions of rotation.

Les poulies menantes 5 et 32 des mécanismes R1 et R4 tournent à la vitesse des moters, égale,selon l'exemple non limitatif,a 3000 tr/min. Si la vitesse de rotation des porte-satellites est de 750 tr/min lorsque le chariot évolue à pleine vitesse en ligne droite, une démonstration simple met en évidence que la poulie menée 26 et la poulie menante 27 sont à vitesse nulle. Cette intéressante propriété de la transmission permet donc d'arrêter les pompes 28 et 48 montées sur les mécanismes réducteurs R2 et R3.The driving pulleys 5 and 32 of the mechanisms R1 and R4 rotate at the speed of the moters, equal, according to the nonlimiting example, to 3000 rpm. If the planet carrier rotation speed is 750 rpm when the carriage is moving at full speed in a straight line, a simple demonstration shows that the driven pulley 26 and the driving pulley 27 are at zero speed. This advantageous property of the transmission therefore makes it possible to stop the pumps 28 and 48 mounted on the reduction mechanisms R2 and R3.

Si les pompes 28 et 48 assurent la commande d'élévation d'un plateau porte-charge lié au châssis du chariot, on voit qu'il est impossible de manoeuvrer le plateau porte-charge en ligne droite à pleine vitesse de translation. Le chariot procure donc une meilleure sécurité d'utilisation et permet une économie substantielle d'énergie en raison de - l'arrêt automatique des pompes 28 et 48. Il est néanmoins admis que l'élévation du plateau porte-charge peut s'opérer jusqu'à ce que le chariot atteigne la moitié de sa vitesse maximale avec un seul moteur et que l'élévation rapide du plateau porte-charge peut s'opérer lorsque le chariot est à l'arrêt, les deux moteurs I, II tournant comme précédemment à la même vitesse et en sens contraire.If the pumps 28 and 48 provide the elevation control of a load-bearing plate linked to the chassis of the carriage, it can be seen that it is impossible to maneuver the load-bearing plate in a straight line at full translation speed. The trolley therefore provides better safety of use and allows a substantial saving of energy due to - the automatic stopping of pumps 28 and 48. It is nevertheless accepted that the lifting of the load-carrying plate can take place up to that the carriage reaches half its maximum speed with a single motor and that the rapid lifting of the load-bearing plate can take place when the carriage is stopped, the two motors I, II rotating as before at the same speed and in the opposite direction.

Il est évident qu'au moment d'opérer une élévation du plateau porte-charge il faudra préalablement immobiliser les roues du véhicule. A cette fin deux freins à disque 39,40 respectivement associés aux axes 17 des mécanismes réducteurs R1 et R4 assurent l'immohilisation des roues avant du chariot.It is obvious that at the time of operating an elevation of the load-bearing platform it will be necessary to immobilize the wheels of the vehicle beforehand. To this end, two disc brakes 39.40 respectively associated with the axes 17 of the reduction mechanisms R1 and R4 ensure the immobilization of the front wheels of the carriage.

Il sera toutefois possible de desserrer les freins 39,40 au cours de l'élévation de la charge pour obtenir un avancement contrôlé du chariot souvent nécessaire durant les opérations de manutention.It will however be possible to release the brakes 39.40 during the lifting of the load to obtain a controlled advance of the truck often necessary during handling operations.

3 - Inversion du sens de marche3 - Reverse direction

L'inversion du sens de marche s'effectue automatiquement en coupant l'alimentation du moteur I et en alimentant le moteur II, préalablement immobile, après inversion de son sens de rotation. Ce changement d'alimentation des moteurs peut s'effectuer même lorsque le chariot évolue en marche avant,st n'est pas préjudiciable à leur bon fonctionnement. Le sens de transmission du couple à partir du moteur II,vers le moteur I,assure le démarrage en marche arrière après serrage du frein 37.The direction of travel is inverted automatically by cutting off the supply to motor I and by supplying motor II, previously stationary, after reversing its direction of rotation. This change of power supply to the motors can be carried out even when the carriage is moving forward, st is not detrimental to their proper functioning. The direction of torque transmission from engine II, to engine I, ensures reverse starting after application of brake 37.

De la description qui vient d'être faite de la transmission et de son mode de fonctionnement,il ressort que celle-ci présente un certain nombre d'avantages particulièrement intéressants.From the description which has just been made of the transmission and of its mode of operation, it appears that it has a certain number of particularly interesting advantages.

On réalise en effet,d'une manière économique, un chariot élévateur à quatre roues motrices avec des organes de transmission allégés et d'encombrement réduit.In fact, economically, a four-wheel drive forklift with lightened transmission components and reduced overall dimensions.

L'emploi de deux moteurs de traction semblables mais montés de façon indépendante à chaque extrémité de la chaîne cinématique permet un ajustage de la puissance motrice à la puissance nécessaire à la commande du chariot.The use of two similar traction motors but mounted independently at each end of the kinematic chain allows an adjustment of the driving power to the power necessary to control the carriage.

Un tel montage permet le fonctionnement des moteurs à des vitesses différentes,au même couple.Such an arrangement allows the motors to operate at different speeds, at the same torque.

Une telle utilisation de la transmission, par le choix des poulies et pignons,permet le libre choix des rapports de vitesses entre les moteurs et les mécanismes réducteurs, pour augmenter ou diminuer la durée d'évolution du chariot à la vitesse maximale ou à la vitesse réduite.Such use of the transmission, by the choice of pulleys and pinions, allows the free choice of the gear ratios between the motors and the reduction mechanisms, to increase or decrease the duration of evolution of the carriage at maximum speed or at speed. scaled down.

La transmission permet également d'obtenir de manière économique de nombreux rapports de transmission voisins les uns des autres sans modification appréciable de l'accélération du véhicule, tout comme le ferait un dispositif de régulation électronique des moteurs, sensiblement plus compliqué.The transmission also makes it possible to economically obtain numerous transmission ratios which are close to one another without appreciable modification of the acceleration of the vehicle, just as a substantially more complicated electronic engine regulation device would do.

Sans sortir du cadre de l'invention il sera bien entendu possible de remplacer la liaison souple par courroies par une liaison hydrostatique ou par des chaînes de transmission, ou des arbres portant à leurs extrémités des pignons de renvoi d'angle.Without departing from the scope of the invention, it will of course be possible to replace the flexible connection by belts with a hydrostatic connection or by transmission chains, or shafts carrying at their ends bevel gears.

Le dispositif illustré à titre d'exemple n'est pas limitatif, il pourra notamment utiliser des mécanismes réducteurs dont les satellites à engrenage sont remplacés par des galets de friction cylindriques mobiles entre des pistes coaxiales.The device illustrated by way of example is not limiting, it may in particular use reduction mechanisms whose gear satellites are replaced by cylindrical friction rollers movable between coaxial tracks.

Il est à remarquer que les freins utilisés 39,40 et 35,37 seront de préférence des freins à disque car la transmission s'y prête par la présence des arbres verticaux 17 liant les mécanismes réducteurs aux pignons coniques 19.It should be noted that the brakes used 39, 40 and 35, 37 will preferably be disc brakes because the transmission lends itself to it by the presence of vertical shafts 17 linking the reduction mechanisms to the bevel gears 19.

L'arbre 17 a une vitesse suffisamment démultipliée pour permettre l'emploi de disques de petite dimension et de freins logeables à l'extérieur de la roue à freiner correspondante.The shaft 17 has a sufficiently multiplied speed to allow the use of small discs and lockable brakes outside the corresponding braking wheel.

Claims (9)

1 - Dispositif de transmission de mouvement aux roues d'un véhicule à essieux moteurs au moyen de deux moteurs générateurs de la force motrice, dont l'un entraîne un mécanisme réducteur de vitesse associé à chaque roue motrice du véhicule, et dont l'autre entraîne également l'un desdits mécanismes réducteurs, lesdits moteurs et mécanismes réalisant conjointement une chaîne cinématique disposée à la périphérie du châssis du véhicule pour l'entraînement de l'ensemble des roues motrices de celui-ci, caractérisé par le fait qu'un élément d'entraînement (17) de l'une des roues, assure la transmission de la force motrice d'un élément d'entrée ou menant (5) du mécanisme,à un élément de sortie ou mené (12) de ce mécanisme, qui sont respectivement entraînés par un organe de transmission (4, 25), tandis qu'un frein (39 ou 40) dudit élément d'entraînement (17) assure le ralentissement de ladite roue.1 - Device for transmitting movement to the wheels of a vehicle with driving axles by means of two motors generating the driving force, one of which drives a speed reducing mechanism associated with each driving wheel of the vehicle, and the other of which also drives one of said reduction mechanisms, said motors and mechanisms jointly producing a kinematic chain disposed at the periphery of the chassis of the vehicle for driving all of the drive wheels thereof, characterized in that an element drive (17) of one of the wheels, transmits the driving force from an input or driving element (5) of the mechanism, to an output or driven element (12) of this mechanism, which are respectively driven by a transmission member (4, 25), while a brake (39 or 40) of said drive element (17) slows down said wheel. 2 - Dispositif de transmission selon la revendication 1, caractérisé par le fait que les éléments menants (5, 20, 27, 30) et les éléments menés (12, 26, 29, 32) des mécanismes réducteurs (R1, R2, R3, R4) sont constitués par des poulies réunies entreelles et à deux moteurs électriques I, II au moyen d'organes de transmission (4, 25, 21, 31, 34).2 - Transmission device according to claim 1, characterized in that the driving elements (5, 20, 27, 30) and the driven elements (12, 26, 29, 32) of the reducing mechanisms (R1, R2, R3, R4) are constituted by pulleys joined together and with two electric motors I, II by means of transmission members (4, 25, 21, 31, 34). 3 Dispositif de transmission selon la revendication 2, caractériel par le fait que l'ensemble des éléments menants (5, 20, 27, 30) et l'ensemble des éléments menés (12, 26, 29, 32) des mécanismes réducteurs de vitesses (R1, R2, R3, R4) portent une couronne planétaire (7, 11) sur laquelle roulent des satellites (8,9) mutuellement en contact.3 Transmission device according to claim 2, characterized in that all of the driving elements (5, 20, 27, 30) and all of the driven elements (12, 26, 29, 32) of the speed reducing mechanisms (R1, R2, R3, R4) carry a planetary ring (7, 11) on which satellites (8,9) roll in contact with each other. 4 - Dispositif de transmission selon la revendication 3, caractérisé par le fait que l'ensemble des couronnes planétaires (7, 11) et l'ensemble des satellites (8, 9) d'un même mécanisme réducteur de vitesses (R1, R2, R3 ou R4) sont identiques.4 - Transmission device according to claim 3, characterized in that all of the planetary rings (7, 11) and all of the satellites (8, 9) of the same speed reduction mechanism (R1, R2, R3 or R4) are identical. 5 - Dispositif de transmission selon la revendication 3, caractérisé par le fait que la couronne planétaire (7, 11) porte les pistes de roulement de galets de friction faisant office de satellites.5 - Transmission device according to claim 3, characterized in that the planetary ring (7, 11) carries the tracks of friction rollers acting as satellites. 6 - Dispositif de transmission selon l'une quelconque des revendications 2, 3 ou 5, caractérisé par le fait que l'élément menant (5, 20, 27 ou 30) et l'élément mené du mécanisme réducteur sont portés par les axes (17, 16) d'un porte-satellites (13).6 - Transmission device according to any one of claims 2, 3 or 5, characterized in that the driving element (5, 20, 27 or 30) and the driven element of the reducing mechanism are carried by the axes ( 17, 16) of a planet carrier (13). 7 - Dispositif de transmission selon la revendication 6, caractérisé par le fait qu'un axe (17) du porte-satellites (13) du mécanisme réducteur de vitesse (R1, R4) porte le pignon d'entraînement (19) de la roue du véhicule et le disque de freinage d'un frein d'immobilisation (39, 40) de ladite roue.7 - Transmission device according to claim 6, characterized in that an axis (17) of the planet carrier (13) of the speed reduction mechanism (R1, R4) carries the drive pinion (19) of the wheel of the vehicle and the brake disc of a parking brake (39, 40) of said wheel. 8 - Dispositif de transmission selon l'une quelconque des revendications 1 à 7, caractérisé par le fait que l'élément menant (5, 32) des mécanismes réducteurs (R1, R4) entraînés par des moteurs électriques (I, II) porte un frein d'immobilisation (37, 35).8 - Transmission device according to any one of claims 1 to 7, characterized in that the driving element (5, 32) of the reduction mechanisms (R1, R4) driven by electric motors (I, II) carries a parking brake (37, 35). 9 - Dispositif de transmission selon la revendication 6, caractérisé par le fait que l'un des axes (16) du porte-satellites (13) du mécanisme réducteur (R2, R3) porte une pompe hydraulique (28, 45) de commande d'élévation d'un plateau porte-charge du véhicule.9 - Transmission device according to claim 6, characterized in that one of the axes (16) of the planet carrier (13) of the reduction mechanism (R2, R3) carries a hydraulic pump (28, 45) for controlling d elevation of a load-bearing platform of the vehicle.
EP78400004A 1977-06-29 1978-06-01 Drive system for vehicles, especially for lift trucks. Expired EP0000296B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7719912A FR2408480A1 (en) 1977-06-29 1977-06-29 TRANSMISSION DEVICE FOR VEHICLES, ESPECIALLY FOR LIFT TRUCKS
FR7719912 1977-06-29

Publications (2)

Publication Number Publication Date
EP0000296A1 true EP0000296A1 (en) 1979-01-10
EP0000296B1 EP0000296B1 (en) 1980-08-20

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US (1) US4245712A (en)
EP (1) EP0000296B1 (en)
JP (1) JPS5418535A (en)
DE (1) DE2860224D1 (en)
DK (1) DK285678A (en)
ES (1) ES470726A1 (en)
FR (1) FR2408480A1 (en)
IT (1) IT1109729B (en)

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US20060169514A1 (en) * 2004-12-21 2006-08-03 Lim Stephen T Axle arrangement for a vehicle
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CN1884806A (en) * 2005-06-24 2006-12-27 刘子安 Energy-saving automobile engine
US10399437B2 (en) * 2016-09-06 2019-09-03 Joy Global Underground Mining Llc Coupled compound planetary transmission for a wheel unit
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GB608592A (en) * 1945-04-04 1948-09-17 Henry Carl Harbers Improved motor vehicle chassis particularly for armoured vehicles
CH356972A (en) * 1955-09-23 1961-09-15 Roller Gear Company Inc Ball friction gear
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Also Published As

Publication number Publication date
JPS5418535A (en) 1979-02-10
US4245712A (en) 1981-01-20
EP0000296B1 (en) 1980-08-20
FR2408480A1 (en) 1979-06-08
IT7868292A0 (en) 1978-06-05
DE2860224D1 (en) 1980-12-04
ES470726A1 (en) 1979-01-16
DK285678A (en) 1978-12-30
FR2408480B1 (en) 1980-03-21
IT1109729B (en) 1985-12-23

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