FR2418106A1 - Vehicule a progression roulante et marchante - Google Patents

Vehicule a progression roulante et marchante

Info

Publication number
FR2418106A1
FR2418106A1 FR7904421A FR7904421A FR2418106A1 FR 2418106 A1 FR2418106 A1 FR 2418106A1 FR 7904421 A FR7904421 A FR 7904421A FR 7904421 A FR7904421 A FR 7904421A FR 2418106 A1 FR2418106 A1 FR 2418106A1
Authority
FR
France
Prior art keywords
lever arm
rolling
uprights
vehicle
arm
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
FR7904421A
Other languages
English (en)
Other versions
FR2418106B1 (fr
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.)
Willy Habegger AG
Original Assignee
Willy Habegger AG
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
Application filed by Willy Habegger AG filed Critical Willy Habegger AG
Publication of FR2418106A1 publication Critical patent/FR2418106A1/fr
Application granted granted Critical
Publication of FR2418106B1 publication Critical patent/FR2418106B1/fr
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B60G3/04—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
    • B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/001—Suspension arms, e.g. constructional features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D49/00—Tractors
    • B62D49/08—Tractors having means for preventing overturning or tipping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E02F9/024—Travelling-gear, e.g. associated with slewing gears with laterally or vertically adjustable wheels or tracks
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E02F9/04—Walking gears moving the dredger forward step-by-step
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/13—Independent suspensions with longitudinal arms only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/14—Independent suspensions with lateral arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/41—Fluid actuator
    • B60G2202/413—Hydraulic actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/09—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/37—Vehicles having steerable wheels mounted on a vertically moving column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/40—Variable track or wheelbase vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne des véhicules. Un véhicule roulant et marchant possédant un corps central et des montants de roues qui lui sont reliés, est caractérisé par le fait que les montants 2 de roues sont conçus comme des montants articulés et à cet effet sont chacun constitués d'un bras-levier 3 et d'un bras-support 4, le bras-levier 3 étant orientable verticalement et horizontalement par rappon au corps central 1, le bras-support 4 pouvant tourner autour d'un axe 5 sensiblement vertical, étant relié et articulé au bras-levier 3, et étant conçu comme une béquille de roue munie d'une tringle d'appui 6 télescopique et par le fait que des dispositifs de commande 7, 8, 9 sont prévus pour le bras-levier 3 et le bras-support 4. Application à des véhicules progressant en terrains variés.
FR7904421A 1978-02-22 1979-02-21 Vehicule a progression roulante et marchante Granted FR2418106A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2807519A DE2807519C2 (de) 1978-02-22 1978-02-22 Fahr- und Schreitwerk
US06/014,593 US4265326A (en) 1978-02-22 1979-02-23 Rolling and stepping vehicle

Publications (2)

Publication Number Publication Date
FR2418106A1 true FR2418106A1 (fr) 1979-09-21
FR2418106B1 FR2418106B1 (fr) 1983-06-17

Family

ID=25773894

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7904421A Granted FR2418106A1 (fr) 1978-02-22 1979-02-21 Vehicule a progression roulante et marchante

Country Status (5)

Country Link
US (1) US4265326A (fr)
JP (1) JPS551263A (fr)
CH (1) CH637582A5 (fr)
DE (1) DE2807519C2 (fr)
FR (1) FR2418106A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2418108A1 (fr) * 1978-02-22 1979-09-21 Habegger Willy Suspension de roue pour vehicule roulant et marchant
WO1987001082A1 (fr) * 1985-08-13 1987-02-26 Martin Werder Vehicule tout-terrain
BE1009973A4 (nl) * 1996-01-03 1997-11-04 Verstraete Eric Terreinvoertuig om over waterlopen en oneffen terrein grond- en onderhoudswerken uit te voeren.
EP0960799A1 (fr) * 1998-05-28 1999-12-01 Johann-Peter Aebli Procédé pour assurer le fonctionnement d'un appareil motorisé, mobile ou pouvant être installé en plain air, avec un moteur à combustion interne
EP0960800A3 (fr) * 1998-05-28 2003-01-08 Aebli Johann-Peter Landmaschinen Procédé et dispositif pour réduire le risque de renversement de véhicules pourvus de chassis et carrosserie
CN110091936A (zh) * 2019-05-21 2019-08-06 南华大学 基于五连杆机构的四足机器人及步态控制方法
CN112810720A (zh) * 2021-01-08 2021-05-18 清华大学 一种基于曲柄摇杆的轮足式四足机器人
CN112977662A (zh) * 2021-04-06 2021-06-18 南通大学 一种多形态全地形搜救机器人

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FR2507984A1 (en) * 1981-06-19 1982-12-24 Komatsu Mfg Co Ltd Laterally movable mobile crane - has double acting hydraulic cylinders to actuate outriggers to lift crane sideways
JPS58164877U (ja) * 1982-04-30 1983-11-02 三菱重工業株式会社 走行装置
JPS58164876U (ja) * 1982-04-30 1983-11-02 三菱重工業株式会社 走行装置
JPS58164871U (ja) * 1982-04-30 1983-11-02 三菱重工業株式会社 走行装置
JPS58167283U (ja) * 1982-05-04 1983-11-08 三菱重工業株式会社 走行装置
JPS5957074A (ja) * 1982-09-27 1984-04-02 Agency Of Ind Science & Technol ３次元移動機械
JPS59152080A (ja) * 1983-02-01 1984-08-30 株式会社東芝 自動歩行機
US4558758A (en) * 1983-12-02 1985-12-17 Erwin Littman Prime mover
JPS60219170A (ja) * 1984-04-14 1985-11-01 Toshiba Corp 能動体
GB8618044D0 (en) * 1986-07-24 1986-09-03 Sheeter E Vehicle
JPS63145181A (ja) * 1986-12-05 1988-06-17 Ringyo Kikaika Kyokai 傾斜地走行用台車
JPS63107581U (fr) * 1986-12-26 1988-07-11
JPS63237881A (ja) * 1987-03-26 1988-10-04 工業技術院長 ロボツトの制御方法及びその装置
US4858914A (en) * 1988-07-13 1989-08-22 Hix Jimmy D Balance enhancing exercise and amusement apparatus
US4862980A (en) * 1988-10-06 1989-09-05 Quest Systems, Inc. Walking machine
DE4028773C2 (de) * 1989-09-28 1994-11-10 Schaeff Karl Gmbh & Co Schreitfahrzeug
US5372211A (en) * 1992-10-01 1994-12-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method for surmounting an obstacle by a robot vehicle
US6068073A (en) * 1996-05-10 2000-05-30 Cybernet Systems Corporation Transformable mobile robot
US6021860A (en) * 1998-06-09 2000-02-08 Bernard C. Jones Vehicle dislodging system
US6257619B1 (en) * 1999-06-30 2001-07-10 Caterpillar Inc. Multiple position stabilizer leg
JP3749232B2 (ja) * 2002-04-01 2006-02-22 三洋電機株式会社 段差昇降方法、台車及び車椅子
CA2394366C (fr) * 2002-07-22 2010-02-02 H. William B. Wilt Rampe d'epandage de produits chimiques pour vehicule tout terrain
US7017687B1 (en) 2002-11-21 2006-03-28 Sarcos Investments Lc Reconfigurable articulated leg and wheel
US7198278B2 (en) * 2004-03-24 2007-04-03 Genie Industries, Inc. Vehicle support system
DE202004004714U1 (de) * 2004-03-25 2005-09-08 Liebherr-Hydraulikbagger Gmbh Unterwagen für mobile Arbeitsmaschinen
ES2267341B2 (es) * 2004-04-22 2007-08-01 Martin Iraola Aguirresarobe Maquina desbrozadora-fresadora autopropulsada para terrenos de gran desnivel.
WO2006013594A1 (fr) * 2004-08-06 2006-02-09 I.Co.P Spa Cuvette mobile pour travail de consolidation sur les murs
CZ298924B6 (cs) * 2004-08-25 2008-03-12 Mth Praha, A. S. Trakcní zarízení pro vyvození pojezdu pracovního stroje
US7588105B2 (en) * 2004-10-01 2009-09-15 Applied Minds, Inc. Virtual-wheeled vehicle
US7543663B2 (en) * 2004-10-01 2009-06-09 Applied Minds, Inc. Bimodal conveyance mechanism
WO2007079346A2 (fr) * 2005-12-30 2007-07-12 Olsen Christopher J Ensembles roue articulée et véhicules qui en sont équipés
WO2007081452A1 (fr) * 2006-01-05 2007-07-19 Scruggs Donald E Vehicules arakodiles
US7263955B1 (en) * 2006-06-20 2007-09-04 Sandra Corporation Combustion powered linear actuator
DE102008024696B3 (de) * 2008-05-21 2009-09-10 Technische Universität Dresden Schreitwerk für ein Arbeitsgerät, insbesondere für eine Forstmaschine
CN101746428B (zh) * 2008-12-15 2012-04-18 上海精益电器厂有限公司 汽车/机器人的脚部结构
JP5432688B2 (ja) * 2009-12-03 2014-03-05 株式会社日立製作所 移動ロボット及びその走行安定化方法
CN101850798B (zh) * 2010-03-29 2011-11-16 北京航空航天大学 一种基于双四连杆机构的仿生蟑螂机器人
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CN102285388B (zh) * 2010-06-17 2013-03-27 深圳市先进智能技术研究所 行走机器人
GB2486013A (en) * 2010-12-02 2012-06-06 Gareth John Monkman Omnidirectionally mobile robot having three feet
CN102841605B (zh) * 2012-09-14 2014-12-31 中国人民解放军国防科学技术大学 一种轮腿复合式移动平台步态控制方法
CN102923207B (zh) * 2012-11-13 2014-10-29 中国计量学院 可适应崎岖路面爬行的仿蜘蛛机器人的躯干装置
CN103112515B (zh) * 2013-01-28 2015-05-13 大连海洋大学 轮腿复合式机器人
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US9592862B2 (en) 2014-03-25 2017-03-14 Green Industry Innovators, L.L.C. Utility vehicle with adjustable wheel base and wheel stance
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DE102016103003A1 (de) * 2016-02-21 2017-08-24 Teupen Maschinenbau Gmbh Mobiles Höhenzugangsgerät für den Höhenzugang im unwegsamen Gelände und an Steilhängen sowie ein Betriebsverfahren
CN106184457B (zh) * 2016-09-06 2018-12-28 东南大学 一种轮腿混合式行走机构及方法
CN106142050B (zh) * 2016-09-08 2018-10-16 肇庆市小凡人科技有限公司 一种车轮高低差自适应的移动机器人
CN106364584A (zh) * 2016-09-22 2017-02-01 上海理工大学 蜘蛛探测仿生机器人
DE102016220869B4 (de) * 2016-10-24 2019-03-14 Dieter Haller Treppensteighilfen
CN106476925B (zh) * 2016-11-04 2018-07-24 哈尔滨工业大学 小型轮腿式移动机器人
PT3330211T (pt) * 2016-12-01 2019-11-20 Hammar Maskin Ip Ab Estrutura de suporte para um veículo com um guindaste de carga
US11407120B2 (en) * 2017-04-28 2022-08-09 Sony Corporation Control device, and control method
CN108482513B (zh) * 2018-05-02 2023-08-01 佛山科学技术学院 一种三态机械脚结构
JP7398450B2 (ja) 2018-11-05 2023-12-14 オシュコッシュ・コーポレーション リフト装置の水平調整システム
RU2707667C1 (ru) * 2018-12-12 2019-11-28 Александр Михайлович Рудник Боевая бронированная машина
CN109515546B (zh) * 2018-12-17 2023-09-05 武汉朗毅机器人有限公司 一种轮腿复合式的水平姿态载物爬楼机器人
KR20200085231A (ko) * 2019-01-04 2020-07-14 현대자동차주식회사 차량 횡단장치 및 이를 포함하는 차량
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR48775E (fr) * 1936-07-09 1938-06-23 Ets Ringhoffer Tatra Sa Véhicule automobile de campagne
FR1197800A (fr) * 1957-07-16 1959-12-02 Véhicule tous terrains
CH357983A (de) * 1958-10-17 1961-10-31 Meili Ernst Geländegängiges Kraftfahrzeug
US3397898A (en) * 1967-02-06 1968-08-20 Caterpillar Tractor Co Stabilizer for motor vehicle
CH559829A5 (en) * 1973-08-20 1975-03-14 Schaeff Karl Kg Maschinenfabri Mobile hydraulic excavator with driveless propulsion - features two pairs of wheels on two axles whose spacing can be increased during operation
FR2418108A1 (fr) * 1978-02-22 1979-09-21 Habegger Willy Suspension de roue pour vehicule roulant et marchant

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US3109506A (en) * 1960-11-04 1963-11-05 Schroter Kurt Walker-type motor vehicle
GB1050526A (fr) * 1962-07-02
US3842926A (en) * 1970-04-29 1974-10-22 Us Army Walking wheeled vehicle
NO132910C (fr) * 1974-07-19 1976-01-28 Ingebret Soyland

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR48775E (fr) * 1936-07-09 1938-06-23 Ets Ringhoffer Tatra Sa Véhicule automobile de campagne
FR1197800A (fr) * 1957-07-16 1959-12-02 Véhicule tous terrains
CH357983A (de) * 1958-10-17 1961-10-31 Meili Ernst Geländegängiges Kraftfahrzeug
US3397898A (en) * 1967-02-06 1968-08-20 Caterpillar Tractor Co Stabilizer for motor vehicle
CH559829A5 (en) * 1973-08-20 1975-03-14 Schaeff Karl Kg Maschinenfabri Mobile hydraulic excavator with driveless propulsion - features two pairs of wheels on two axles whose spacing can be increased during operation
FR2418108A1 (fr) * 1978-02-22 1979-09-21 Habegger Willy Suspension de roue pour vehicule roulant et marchant

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2418108A1 (fr) * 1978-02-22 1979-09-21 Habegger Willy Suspension de roue pour vehicule roulant et marchant
WO1987001082A1 (fr) * 1985-08-13 1987-02-26 Martin Werder Vehicule tout-terrain
US4779691A (en) * 1985-08-13 1988-10-25 Martin Werdner Cross-country vehicle
AU590601B2 (en) * 1985-08-13 1989-11-09 Martin Werder Cross-country vehicle
BE1009973A4 (nl) * 1996-01-03 1997-11-04 Verstraete Eric Terreinvoertuig om over waterlopen en oneffen terrein grond- en onderhoudswerken uit te voeren.
EP0960799A1 (fr) * 1998-05-28 1999-12-01 Johann-Peter Aebli Procédé pour assurer le fonctionnement d'un appareil motorisé, mobile ou pouvant être installé en plain air, avec un moteur à combustion interne
EP0960800A3 (fr) * 1998-05-28 2003-01-08 Aebli Johann-Peter Landmaschinen Procédé et dispositif pour réduire le risque de renversement de véhicules pourvus de chassis et carrosserie
CN110091936A (zh) * 2019-05-21 2019-08-06 南华大学 基于五连杆机构的四足机器人及步态控制方法
CN110091936B (zh) * 2019-05-21 2023-05-05 南华大学 基于五连杆机构的四足机器人及步态控制方法
CN112810720A (zh) * 2021-01-08 2021-05-18 清华大学 一种基于曲柄摇杆的轮足式四足机器人
CN112810720B (zh) * 2021-01-08 2021-11-09 清华大学 一种基于曲柄摇杆的轮足式四足机器人
CN112977662A (zh) * 2021-04-06 2021-06-18 南通大学 一种多形态全地形搜救机器人

Also Published As

Publication number Publication date
FR2418106B1 (fr) 1983-06-17
CH637582A5 (de) 1983-08-15
DE2807519A1 (de) 1979-08-23
DE2807519C2 (de) 1983-10-20
US4265326A (en) 1981-05-05
JPS551263A (en) 1980-01-08

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