EP1539505A2 - Amortissement d'une roue servante dans un systeme de direction - Google Patents

Amortissement d'une roue servante dans un systeme de direction

Info

Publication number
EP1539505A2
EP1539505A2 EP03734216A EP03734216A EP1539505A2 EP 1539505 A2 EP1539505 A2 EP 1539505A2 EP 03734216 A EP03734216 A EP 03734216A EP 03734216 A EP03734216 A EP 03734216A EP 1539505 A2 EP1539505 A2 EP 1539505A2
Authority
EP
European Patent Office
Prior art keywords
dolly wheel
assembly
dolly
force
spindle
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.)
Withdrawn
Application number
EP03734216A
Other languages
German (de)
English (en)
Other versions
EP1539505A4 (fr
Inventor
Russell W. Strong
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.)
Integrated Vision Inc
Original Assignee
Integrated Vision Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from US10/156,304 external-priority patent/US6668965B2/en
Priority claimed from US10/156,466 external-priority patent/US7159695B2/en
Application filed by Integrated Vision Inc filed Critical Integrated Vision Inc
Publication of EP1539505A2 publication Critical patent/EP1539505A2/fr
Publication of EP1539505A4 publication Critical patent/EP1539505A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/08—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in a single plane transverse to the longitudinal centre line of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
    • B60B33/0005—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture characterised by mounting method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
    • B60B33/0015—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture characterised by adaptations made to castor
    • B60B33/0021—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture characterised by adaptations made to castor in the form of a mounting pin
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0036—Castors in general; Anti-clogging castors characterised by type of wheels
    • B60B33/0039—Single wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0047—Castors in general; Anti-clogging castors characterised by details of the rolling axle
    • B60B33/0049—Castors in general; Anti-clogging castors characterised by details of the rolling axle the rolling axle being horizontal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0047—Castors in general; Anti-clogging castors characterised by details of the rolling axle
    • B60B33/0057—Castors in general; Anti-clogging castors characterised by details of the rolling axle the rolling axle being offset from swivel axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/006—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism
    • B60B33/0065—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis
    • B60B33/0068—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis the swivel axis being vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/006—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism
    • B60B33/0065—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis
    • B60B33/0073—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis the swivel axis being symmetrical to wheel or wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
    • B60B33/025—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism by using form-fit, e.g. front teeth
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
    • B60B33/026—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism being actuated remotely, e.g. by cable or electrically
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/003—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels
    • B62K5/007—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels power-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/08—Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
    • B62B2301/04—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors
    • B62B2301/046—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors with means restricting the rotation about that axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
    • B62B2301/04—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors
    • B62B2301/046—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors with means restricting the rotation about that axis
    • B62B2301/0463—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors with means restricting the rotation about that axis by blocking the rotation at a position

Definitions

  • the present invention relates generally to dolly wheels for use with a vehicle to provide zero turn capabilities. More specifically, the present invention relates to dolly wheels that can operate in various terrain and at high speeds and thus can be utilized in a variety of all terrain and high speed applications.
  • Dolly wheels are commonly used on vehicles or other devices which operate at low speeds (0 - 10 m.p.h.). However, when the speed of the vehicle increases, such as to 15 m.p.h. or greater, current dolly wheels can become unstable and oscillate or shimmy.
  • the oscillation or shimmying is a phenomenon characterized by the vibration or rotation of the dolly wheel about its axis. The oscillation or shimmying is caused in part by offset load impacts on the wheels, such as can occur when the side of the dolly wheel surface that engages the road contacts resistance, stones or bumps, which cause the wheel to rotate and then recenter when the trailing dolly effect again becomes the controlling directional force on the wheel. In rapidly recentering, the wheel typically goes past center and then must recenter back again. The rapid effect that this phenomenon sets up is an ongoing shimmy or oscillation which is disruptive to the smooth operation of the vehicle.
  • the dolly wheels respond to the unequal speeds of the drive wheels, undesired vehicle rotation and hence turning can result, such as when one drive wheel experiences slippage due to lack of traction or when the vehicle is driving along a side hill where the tires see unequal weight and thus unequal traction, or a side hill where the vehicle weight over the dolly wheel wants to pull that end downhill, whereas a steered tire would hold the desired vehicle path.
  • the dolly wheels are required to have complete freedom to follow the drive wheel turn requirements.
  • a system for providing a braking force for a dolly wheel is provided.
  • the disclosed system provides a dolly wheel assembly including a support for attaching the dolly wheel to a vehicle, a dolly wheel mounting member rotatably mounted on the support, a rotating brake member mounted so as to rotate with the dolly wheel axle, and a stationary brake member fixed relative to the vehicle.
  • the dolly wheel axle is defined by the dolly wheel kingpin and is free to rotate throughout the 360 degree path of travel of the dolly wheel.
  • the assembly also includes a controller for operating the brake so as permit braking of the dolly wheel axle at any position.
  • the programmable controller is intended to sense the speed of the vehicle.
  • the programmable controller senses that the speed of the vehicle is below a preset level, it does not apply any braking force to the axle and allows it to freely rotate.
  • the controller senses that the speed of the vehicle exceeds a preset speed, the controller applies a predetermined force to the brake, which is sufficient to prevent oscillation or shimmying. While this system and other similar systems have been developed, they all present problems in controlling the actual dampening force as well as its repeatability in varying environmental conditions. Moreover, their lack of sensitivity causes them to be limited as to when they can be employed or used and thus they are not readily applicable to all vehicle designs.
  • a dolly wheel system includes a dolly wheel, a dolly wheel spindle in communication with the dolly wheel such that the dolly wheel and the dolly wheel spindle are fixedly secured to one another and are rotatable as a single unit.
  • the dolly wheel spindle is in communication with a dampening device.
  • the dampening device applies a restraining force to the dolly wheel spindle upon command to prevent the dolly wheel from rotating.
  • the dampening device is in communication with a sensing system of the vehicle and controls related thereto such that the dampening device may be actuated to apply the restricting force to the dolly wheel or remove application of the force upon demand to accommodate for a variety of different circumstances.
  • the dampening device is preferably comprised of an electro- viscous fluid which has a controllable changing viscosity upon application of, and in relation to, varying electrical charge.
  • the viscous fluid is located in a chamber that surround the dolly wheel spindle.
  • the viscosity of the fluid increases and in concert with the shape of the chamber within which the spindle rotates as well as the shape of the rotating spindle within the chamber, effectively results in the application of a braking force to the dolly wheel spindle to dampen or prevent its rotation.
  • the viscosity of the fluid decreases to remove the braking or dampening force, which allows the spindle to rotate.
  • the dampening device may also be comprised of an electric motor which has a resistance and braking force element that is electrically controllable responding in concert with the vehicle's sensing and controller signals. Similarly, upon removal of resisting forces, the motor allows essentially free rotation of the dolly wheel as desired for slow speed advantageous maneuverability.
  • the dampening device may also be comprised of a hydraulic pump/motor which can generate a resistance and braking force element controllable by a restrictive flow orifice corresponding in concert with the vehicle's sensing and controller signals. Similarly, upon removal of flow restriction to the pump/motor flow, the motor allows essentially free rotation of the dolly wheel as desired for advantageous slow speed maneuverability.
  • the dampening device may also be comprised of a detente device that upon receipt of a signal can provide varying stages of engagement to restrict and/or lock the dolly wheel pivot.
  • Figure 1 is a top view of a dolly wheel dampening system in accordance with a preferred embodiment of the present invention
  • Figure 2 is a partial cross-sectional side view of a dolly wheel dampening system in accordance with a preferred embodiment of the present invention
  • Figure 3 is a cross-sectional view of the dampening device of
  • Figure 4 is a partial cross-sectional side view of a dolly wheel dampening system in accordance with another preferred embodiment of the present invention
  • Figure 5 is a partial cross-sectional side view of a dolly wheel dampening system in accordance with still another preferred embodiment of the present invention
  • Figure 6 is a perspective view of a dolly wheel dampening system in accordance with another preferred embodiment of the present invention.
  • Figure 7 is cross-sectional view of the dampening system of
  • Figure 8 is a cross-sectional view of the dampening system of
  • Figure 9 is a partial cross-sectional view of a dolly wheel dampening system in accordance with still another preferred embodiment of the present invention.
  • Figure 10 is a partial cross-sectional view of a dolly wheel dampening system in accordance with yet another preferred embodiment of the present invention
  • Figure 11 is a partial cross-sectional view of a dolly wheel dampening system in accordance with still another preferred embodiment of the present invention.
  • Figure 12 is an illustration of a mobility vehicle utilizing a dolly wheel system in accordance with a preferred embodiment of the present invention.
  • the dolly wheel assembly 10 includes a dolly wheel 12, a dolly wheel mounting member 14, a support member 16 for the dolly wheel assembly 10, and a dolly wheel spindle 18.
  • the dolly wheel 12 is preferably a free rotating wheel that is capable of rotating or swiveling 360 degrees with respect to an axis 20 defined by the dolly wheel spindle 18. The free rotating capability allows the dolly wheel to turn quickly.
  • the dolly wheel 12 can be turned to a variety of different positions, as shown generally by 12' and 12".
  • a pair of dolly wheel assemblies 10 are mounted to a front of a vehicle or other structure, as shown illustratively in Figure 12.
  • the dolly wheel mounting member 14 includes a pair of downwardly extending flange portions 22 and may include an upper portion 24.
  • the dolly wheel 12 is secured to the dolly wheel mounting member 14 by a shaft 21 that passes through each of the flange portions 22 and the center of the dolly wheel 12.
  • the dolly wheel 12 is secured to the dolly wheel mounting member 14 by the shaft 21 such that the dolly wheel 12 can freely rotate radially in either a forward or rearward direction.
  • flange portions 22 are preferably utilized to secure the dolly wheel 12, it will be understood that only a single flange portion may also be utilized with the shaft 21 rigidly projected off of it to effectuate the axle.
  • the mounting member 14 and the flange portions 22 can take on a variety of other configurations.
  • the dolly wheel spindle 18 is preferably secured to the upper portion 24 of the dolly wheel mounting member 14. Thus, as the dolly wheel 12 rotates with respect to the axis 20, the dolly wheel spindle 18 similarly rotates.
  • the dolly wheel spindle 18 is rotationally secured through a bearing device 33 to the support member 16 at an outer end 26, such that the dolly wheel spindle 18 and the associated dolly wheel 12 can rotate in an axial direction with respect thereto.
  • the support member 16 has an inner end 28 that is secured to a suspension system of a vehicle or other vehicle frame structure.
  • the dolly wheel spindle 18 while supported by the bearing device 33 is preferably in communication with a dampening device 30 to regulate the free rotation of the pivot axis.
  • the dampening device 30 can work on demand through a controller to partially or fully dampen or clamp the dolly wheel spindle 18 for system stability as required by the system in response to a signal related to the vehicle speed or variabilities of traction or terrain.
  • the controlled dampening can be achieved by a mechanical, hydraulic, electrohydraulic or electrically actuated detente system, a variable viscosity dampener, or a dampener device of hydraulic or electrical means that provides resistance of the dolly wheel spindle 18 to rotation about the axis 20.
  • a dampener device of hydraulic or electrical means that provides resistance of the dolly wheel spindle 18 to rotation about the axis 20.
  • FIGS 2 and 3 illustrate one embodiment of the dampening device 30.
  • the dolly wheel spindle 18 is located within a dampener housing 32.
  • the outer surface 34 of the dolly wheel spindle 18 includes a plurality of radial ribs 36 formed thereon and which extend generally outwardly. While radial ribs 36 are preferably utilized, a variety of other protruding structures or surface contours may be utilized.
  • a chamber 38 is defined between the outer surface 34 of the dolly wheel spindle 18 and an inner surface 40 of the dampening housing 32.
  • the inner surface 40 of the dampening housing 32 also preferably has a plurality of radial grooves 42 formed therein. While radial grooves 42 are preferably utilized, a variety of other structures or surface contours may also be utilized.
  • the dampening device 30 is in communication with a controller 46.
  • an electrically excited viscous fluid medium 50 is located within the chamber 38.
  • the viscous fluid medium is known to those skilled in the art as magnetorheological (MR) fluid technology that when excited at times and in magnitude determined by the controller 46, by an electrical current, increases the effective viscosity of the fluid.
  • MR magnetorheological
  • other fluids of similar characteristics may be utilized.
  • the dampening device 30 restricts the dolly wheel 12 from rotating about the axis 20, thus reducing undesired oscillation or rotation.
  • the dampening device 30 is preferably on demand such that it can fully clamp or dampen the dolly wheel 12 as desired by an operator or as automatically controlled to respond to requirements for certain speed, traction, and terrain conditions.
  • Each of the dolly wheels 12 of a vehicle can be clamped individually or collectively.
  • the vehicle can include an electronic speed sensor in communication with the drive system. When the sensor determines that the vehicle speed is rising above a certain level, a signal will be sent for electronic proportional actuation of the dampening device 30 to apply a restricting force to the rotation of the dolly wheel spindle 18.
  • a full clamping force could be applied.
  • the resisting force would only be released in response to a significant steering input during this condition of operation.
  • feedback control is preferably provided such that the amount of viscous dampening force being applied can also be sensed by an electronic sensor.
  • Some other examples of when the disclosed system can be utilized include for parking a vehicle on a hillside, maneuvering on a hillside, maneuvering in tight locations, or operating in conditions of lessened control or drive wheel slippage.
  • the dampening device 30 can be actuated directly.
  • a principal benefit of the disclosed system is that the dampening device 30 can automatically and accurately engage in a desired relationship for vehicle travel stability.
  • another benefit is that the dampened steering at higher speeds reduces the likelihood of vehicle turning occurring at an unsafe rate.
  • the controller 46 could be designed to provide two or more modes of control with differing dolly wheel dampening relationships to accommodate an operator's desires related to vehicle use based on speed, terrain demands, style of driving, and traction conditions.
  • the dampening device 30 is secured to the dolly wheel support member 16.
  • the dampening device 30 is located in its dampening housing 32.
  • the dampening housing 32 includes a support attachment arm 58, which is secured to the support member 16.
  • the dampening housing 32 has a cylindrical post 60 disposed therein which is secured to the dolly wheel spindle 18.
  • the dolly wheel spindle 18 is located in a spindle housing 62 and is secured to the upper portion 24.
  • the dolly wheel spindle 18 is supported on a bearing assembly 64 including a pair of bearings 65 that allow it to rotate.
  • the dampening housing 32 has a chamber 38 located therein in which the viscous fluid medium 50 is located.
  • the post 60 preferably has a plurality of radial ribs 36 formed thereon and the dampening housing 32 has an inner surface 40 having a plurality of radial grooves 42 formed therein. It will be understood that the dampening effect of the plurality of radial grooves 42 in concert with the plurality of radial ribs 36 and the varying viscosity fluid could be effectuated with similarly employed radial pins or other non-contact surface contours on the post 60 and the inner surface 40.
  • the dampening housing 32 thus takes on the same configuration as the dampening device 30 shown in Figure 3, except that the post 60 is located within the dampening housing 32.
  • the current to excite the viscous fluid medium 50 is preferably provided by a current contact 66, which is in electrical communication with the current source as determined by the controller 46.
  • the dampening device 30 can be located external to the bearing assembly 64. It will also be understood that the dampening device can be assembled internally and integral with the bearing assembly 64 between the bearings.
  • FIG. 5 illustrates another embodiment of the present invention.
  • the dampening device 30 is used for the same purposes described above, namely to restrict movement of the dolly wheel 12 about its axis 20.
  • the dampening device 30 in this embodiment can also be used in conjunction with a dual mode steering system.
  • the dampening device is utilized in conjunction with a motor 70 when the controlled steering mode of the dolly wheel assembly is utilized.
  • the dual mode steering system is described in detail in U.S. Patent Application Serial No. , entitled “Dolly Wheel Steering System for a Vehicle," which is filed concurrently herewith and which is hereby incorporated by reference.
  • the motor 70 which can be either hydraulic, electric, or mechanical is secured to the support arm 26.
  • FIG. 6 through 8 illustrate an embodiment of a mechanical detente system for the dolly wheel assembly 12 in accordance with the present invention.
  • the mechanical detente system 80 is preferably in communication with a dolly wheel spindle 82 to regulate free rotation of the pivot axis.
  • the mechanical detente system 80 embodiment of the dampening device 30 can work on demand to partially or fully dampen or clamp the dolly wheel spindle 82 for system stability.
  • the mechanical detente system 80 includes a dampener housing 84 that houses the dolly wheel spindle 82 therewithin.
  • the dolly wheel spindle 82 has a disc 86 fixedly secured to a bottom end 88 thereof such that the disc 86 rotates as the dolly wheel 12 and the dolly wheel spindle 82 rotate.
  • the disc 86 has a notch 88 formed therein.
  • the notch 88 is positioned such that it will receive a detente latch 90 therein when the dolly wheel 12 is oriented in a forward facing position.
  • the notch 88 is generally "v" shaped with a pair of inwardly sloping surfaces 92 that help pull the detente latch 90 into secure engagement with the disc 86 to prevent rotation of the dolly wheel 12.
  • the detente latch 90 is disposed at the end of a detente arm 94.
  • the detente arm is rotatably secured at its upper end 96 to the dampener housing 84 at an upper pivot 98.
  • the detente arm 94 is in communication with an actuator 100.
  • the actuator 100 has a linearly reciprocating arm 102 that moves the detente arm 94 outwardly to disengage the detente latch 90 from the notch 88 and moves the detente arm 94 inwardly and into engagement with the notch 88.
  • the sloping surfaces 88 assist in allowing the detente latch 90 to fully rest in the notch 88.
  • the actuator 100 is in communication with the controller 46 to cause the arm 102 to reciprocate correspondingly with desired detente actuation relative to vehicle operation.
  • the arm 102 can be moved between a position fully locking the dolly wheel 12, as generally represented by letter a. In this position, the detente latch 90 is in full engagement with the notch 88. The arm 102 can also be moved to a fully retracted position, as generally represented by letter b. In this position, the detente arm 94 is pivoted about the upper pivot 98 such that the dolly wheel 12 has unrestricted movement. The arm 102 can further move the detente latch 90 to one or more intermediary positions, as generally represented by letter c. In this position, the detente arm 94 is only partially engaged with the notch 88.
  • the detente arm 94 is in communication with a spring 104.
  • the spring 104 is an override spring, which can allow override of the actuator 100 to cause the detente latch 90 to disengage the notch 88 as desired.
  • the spring 104 can allow override when there is a sudden demand for steering beyond that normal to corrective steering when at speed, such as for sudden obstacle avoidance.
  • the housing 84 also preferably has a pair of guide flanges 106, which are intended to locate the detente latch 90 with respect to the notch 88.
  • FIG. 9, 10, and 11 each illustrate alternate embodiments of a dampening device 30 in accordance with the present invention.
  • the dampening device 30 which differs in each embodiment as is discussed in more detail below, is located in a dampener housing 110.
  • the dampener housing 110 includes a support attachment arm 112, which is secured to the support member 16.
  • the dampener housing 110 is preferably disposed on top of a spindle housing 120.
  • the spindle housing 120 has a dolly wheel spindle 118 located therein.
  • the dolly wheel spindle 118 is secured to the upper portion 122 and is in communication with the dampener housing 110 at an upper end.
  • the dolly wheel spindle 118 is supported on a bearing assembly 124 including a pair of bearings 126 that allow it to rotate.
  • the dampener housing 110 includes a support attachment arm 112, which is secured to the support member 16.
  • the dampening device is preferably an electric motor 130 which is in communication with the dolly wheel spindle 118 through a planetary gear system 132 which is restrained by the housing 110.
  • the electric motor 130 is preferably in communication with the controller 46 by wires 134. In an unexcited position, the dolly wheel spindle 118 can free wheel allowing full 360 degree rotation. In the excited position, the controller 46 signals the electric motor 130 to start applying a restrictive force to the dolly wheel spindle 118 through the planetary gear 134.
  • the electric motor 130 can be powered to provide a braking force to the dolly wheel spindle 118 and thus the dolly wheel 12.
  • the electric motor 130 can also be powered to provide rotation in a dampened manner of the dolly wheel spindle 118.
  • the dampener housing 110 includes a support attachment arm 112, which is secured to the support member 16.
  • the dampening device is preferably an pump/motor 150 which is in communication with the dolly wheel spindle 118 to apply a resistive or braking force thereto as regulated by the controller 24.
  • the pump/motor 150 can be a vane pump, a piston pump, or a gear pump motor with appropriate controls to accommodate pump/motor characteristics. Obviously, other pump/motors can be utilized.
  • the pump/motor 150 is preferably in fluid communication with a valve 152 to control flow which allows or resists rotation of the dolly wheel spindle 118.
  • the valve 152 is preferably electric controlled, but other valves may obviously be utilized.
  • the valve 152 preferably has an open position, variable metered positions, and a closed position. When the valve 152 is in the open position, no force restricts the dolly wheel spindle 118 and the dolly wheel can thus rotate throughout its 360 degrees while pumping fluid freely through the open valve 152. When the valve 152 is closed, the total restriction of flow locks up the pump/motor 150 such that the dolly wheel spindle 118 is locked. When the valve 152 is partially restricted, a greater rotating force is required to pump fluid through the valve 152, thus providing a dampened effect on the rotation of the spindle 118.
  • an electroviscous fluid such as a magnetorheological fluid
  • this pump/motor 150 could be a vane pump, a gear pump, a piston pump, or other variation thereof.
  • the viscous fluid flows through a passageway 156.
  • the pump/motor 150 is in a locked state and the dolly wheel spindle 118 is prevented from rotating, no viscous fluid flows through the passageway 156 as the fluid is in a higher viscosity or semi-solid state.
  • the dampening system is preferably utilized in connection with dolly wheels, however it will be understood that it could be utilized for a variety of other applications.
  • the dampening system is preferably utilized on a pair of dolly wheels, which are incorporated into a vehicle.
  • the dolly wheels are utilized on a mobility vehicle 170, as shown in Figure 12, but they could obviously be used on any type of driven or towed vehicle.
  • they can be located forwardly or rearwardly of the drive axle and less than or more than two dolly wheels may be utilized.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Handcart (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Ensemble roue servante de véhicule comprenant une roue servante à laquelle est fixée solidement une broche de sorte que la roue servante et la broche puissent tourner de manière solidaire sous forme d'un bloc unique. La broche de la roue servante communique avec un dispositif d'amortissement de sorte que celui-ci applique une force de retenue sur la broche. L'application de cette force de retenue ou de freinage limite ou empêche la roue servante de tourner librement autour d'un axe défini par la broche. Le dispositif d'amortissement communique avec un contrôleur qui commande le dispositif d'amortissement de sorte que celui-ci applique ou n'applique pas de force de retenue ou de freinage en vue de répondre à différents états affectant le fonctionnement du véhicule, considérant l'implication fonctionnelle de l'ensemble roue servante.
EP03734216A 2002-05-28 2003-05-28 Amortissement d'une roue servante dans un systeme de direction Withdrawn EP1539505A4 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US10/156,304 US6668965B2 (en) 2001-05-25 2002-05-28 Dolly wheel steering system for a vehicle
US156466 2002-05-28
US156304 2002-05-28
US10/156,466 US7159695B2 (en) 2001-05-25 2002-05-28 Dampening for a dolly wheel within a steering system
PCT/US2003/016684 WO2003103986A2 (fr) 2002-05-28 2003-05-28 Amortissement d'une roue servante dans un systeme de direction

Publications (2)

Publication Number Publication Date
EP1539505A2 true EP1539505A2 (fr) 2005-06-15
EP1539505A4 EP1539505A4 (fr) 2007-08-29

Family

ID=29738888

Family Applications (2)

Application Number Title Priority Date Filing Date
EP03757289A Withdrawn EP1539557A4 (fr) 2002-05-28 2003-05-28 Systeme de direction de roues servantes d'un vehicule
EP03734216A Withdrawn EP1539505A4 (fr) 2002-05-28 2003-05-28 Amortissement d'une roue servante dans un systeme de direction

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP03757289A Withdrawn EP1539557A4 (fr) 2002-05-28 2003-05-28 Systeme de direction de roues servantes d'un vehicule

Country Status (3)

Country Link
EP (2) EP1539557A4 (fr)
AU (2) AU2003239908A1 (fr)
WO (2) WO2003103365A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008053084A (ja) 2006-08-25 2008-03-06 Sumitomo Chemical Co Ltd 燃料電池用膜・電極接合体及び燃料電池
US10252571B2 (en) * 2016-10-17 2019-04-09 Kubota Corporation Work vehicle
SE545390C2 (en) * 2020-05-14 2023-07-25 Husqvarna Ab Self-Propelled Robotic Lawnmower comprising a Caster Wheel

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2367993A (en) * 1942-07-29 1945-01-23 Bishop Arthur Ernest Joseph Means for damping swiveling oscillations in caster wheels
US2770832A (en) * 1953-02-11 1956-11-20 Houdaille Industries Inc Swivel wheel damper
US4178007A (en) * 1977-09-23 1979-12-11 Caelter Enterprises, Ltd. Hydraulic anti-shimmy device for caster wheels
US4667365A (en) * 1986-02-24 1987-05-26 M-B Company, Inc. Of Wisconsin Anti-shimmy caster wheel assembly using a speed sensor and braking action about the verticle axis
US5590605A (en) * 1995-11-20 1997-01-07 The Walt Disney Company Conveying device with self steering powered caster

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4432116A (en) * 1981-04-06 1984-02-21 Houdaille Industries, Inc. Caster shimmy damper including a viscous damping medium
US5609220A (en) * 1992-08-27 1997-03-11 Kabushiki Kaisha Komatsu Seisakusho Operation control system for traveling vehicle
US5809612A (en) * 1996-01-02 1998-09-22 Teftec Corporation Anti-Shimmy caster wheel Mounting
CA2262203A1 (fr) * 1998-03-10 1999-09-10 Richard L. Feller Appareil de nettoyage des pistes d'aeroport
US6161849A (en) * 1998-09-29 2000-12-19 Schweninger; Q. David Turn wheel locking device
US6302421B1 (en) * 2000-05-15 2001-10-16 Aaron Lee Vehicle with swivel control of casters for enabling rider or external steering

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2367993A (en) * 1942-07-29 1945-01-23 Bishop Arthur Ernest Joseph Means for damping swiveling oscillations in caster wheels
US2770832A (en) * 1953-02-11 1956-11-20 Houdaille Industries Inc Swivel wheel damper
US4178007A (en) * 1977-09-23 1979-12-11 Caelter Enterprises, Ltd. Hydraulic anti-shimmy device for caster wheels
US4667365A (en) * 1986-02-24 1987-05-26 M-B Company, Inc. Of Wisconsin Anti-shimmy caster wheel assembly using a speed sensor and braking action about the verticle axis
US5590605A (en) * 1995-11-20 1997-01-07 The Walt Disney Company Conveying device with self steering powered caster

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO03103986A2 *

Also Published As

Publication number Publication date
AU2003239908A8 (en) 2003-12-22
WO2003103365A1 (fr) 2003-12-18
AU2003239908A1 (en) 2003-12-22
EP1539557A4 (fr) 2008-06-25
WO2003103986A3 (fr) 2004-02-19
AU2003243323A1 (en) 2003-12-22
EP1539505A4 (fr) 2007-08-29
WO2003103986A2 (fr) 2003-12-18
EP1539557A1 (fr) 2005-06-15

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