JP2012051385A - 移動機構 - Google Patents
移動機構 Download PDFInfo
- Publication number
- JP2012051385A JP2012051385A JP2010193063A JP2010193063A JP2012051385A JP 2012051385 A JP2012051385 A JP 2012051385A JP 2010193063 A JP2010193063 A JP 2010193063A JP 2010193063 A JP2010193063 A JP 2010193063A JP 2012051385 A JP2012051385 A JP 2012051385A
- Authority
- JP
- Japan
- Prior art keywords
- moving mechanism
- body frame
- pitch
- suspension
- vehicle body
- 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.)
- Pending
Links
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0511—Roll angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0512—Pitch angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0521—Roll rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0522—Pitch rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
【解決手段】車体フレームに車輪を接続し移動する移動機構において、それぞれの車輪をスイングアームで車体に取り付け、それぞれのスイングアームを支えるコイルバネを懸架するピッチ・ロール方向に回動可能なテーブルの傾きを適切に制御することによって、車体フレームを水平に保ち安定に走行する移動機構を構成する。
【選択図】 図1
Description
2 車体フレーム
3 2自由度アクチュエータ
4 テーブル
11FL,11FR,11RL,11RR スイングアーム
12FL,12FR,12RL,12RR サスペンション
13FL,13FR,13RL,13RR 車輪
31 1自由度アクチュエータ
100 ロボットの重心
205 傾斜センサ
206 制御装置
Claims (5)
- 車体フレームが3つ以上の車輪により支持され、前記車輪の一部もしくは全てが駆動することで移動する移動機構において、
前記車体フレームと前記車輪との間に設けられたサスペンションと、
前記サスペンションを懸架する所定方向に傾斜可能なテーブルと、
前記テーブルを傾斜させる出力を備えたアクチュエータとを備え、
前記車体フレームに搭載された傾斜検出手段が前記移動機構の重力方向に対する傾斜角度,傾斜角速度を検出し、制御指令値出力手段がその情報をもとに、前記移動機構の目標傾斜角度,目標傾斜角速度に沿うように、前記アクチュエータを制御することを特徴とした移動機構。 - 請求項1において、
前記サスペンションは、前記テーブルに懸架され、前記車体フレームと前記車輪とをつなぐピッチ方向にのみ回動可能なスイングアームの一部に接続され、
前記テーブルは、車体フレームに対してピッチ方向とロール方向の2自由度に傾斜可能なテーブルであることを特徴とした移動機構。 - 請求項1において、
前記サスペンションは、前記テーブルに懸架され、前記車体フレームと前記車輪とをつなぐピッチ方向にのみ回動可能なスイングアームの一部に接続され、
前記テーブルは、車体フレームに対してロール方向に傾斜可能なテーブルであることを特徴とした移動機構。 - 請求項1において、
前記サスペンションは、前記テーブルに懸架され、前記車体フレームと前記車輪とをつなぐピッチ方向にのみ回動可能なスイングアームの一部に接続され、
前記テーブルは、車体フレームに対してピッチ方向に傾斜可能なテーブルであることを特徴とした移動機構。 - レール上を走行するための車輪を有する複数の台車と、前記複数の台車上に設けられた客室を有する車両において、
前記台車が、請求項1乃至請求項4のいずれかに記載の移動機構であることを特徴とする車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010193063A JP2012051385A (ja) | 2010-08-31 | 2010-08-31 | 移動機構 |
US13/205,061 US20120053788A1 (en) | 2010-08-31 | 2011-08-08 | Moving mechanism |
EP11177480.8A EP2423011B1 (en) | 2010-08-31 | 2011-08-12 | Moving mechanism |
KR1020110082605A KR20120021199A (ko) | 2010-08-31 | 2011-08-19 | 이동 기구 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010193063A JP2012051385A (ja) | 2010-08-31 | 2010-08-31 | 移動機構 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2012051385A true JP2012051385A (ja) | 2012-03-15 |
Family
ID=44644984
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010193063A Pending JP2012051385A (ja) | 2010-08-31 | 2010-08-31 | 移動機構 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20120053788A1 (ja) |
EP (1) | EP2423011B1 (ja) |
JP (1) | JP2012051385A (ja) |
KR (1) | KR20120021199A (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016068727A (ja) * | 2014-09-29 | 2016-05-09 | ヤンマー株式会社 | 走行車両 |
US10053166B2 (en) | 2014-04-28 | 2018-08-21 | Yanmar Co., Ltd. | Traveling vehicle |
CN111660724A (zh) * | 2020-06-10 | 2020-09-15 | 安徽爱瑞特新能源专用汽车股份有限公司 | 一种无人驾驶扫地车用前桥减震装置 |
CN112955334A (zh) * | 2019-10-10 | 2021-06-11 | 瑞翼汽车有限公司 | 双轴车轮悬架 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011045973A (ja) * | 2009-08-28 | 2011-03-10 | Hitachi Ltd | ロボット |
WO2013052540A2 (en) * | 2011-10-04 | 2013-04-11 | Parker-Hannifin Corporation | Method and system for controlling electric actuators |
CN102765383B (zh) * | 2012-08-01 | 2014-11-26 | 浙江吉利汽车研究院有限公司杭州分公司 | 一种用于车辆平衡的方法和系统 |
CN103754080B (zh) * | 2014-01-15 | 2016-04-13 | 国网四川省电力公司电力科学研究院 | 变电站巡检机器人车体底盘 |
US9718503B2 (en) * | 2014-06-06 | 2017-08-01 | Gavin Ursich | Counter-torque rollover prevention architecture |
US9937908B2 (en) * | 2015-09-17 | 2018-04-10 | GM Global Technology Operations LLC | Vehicle with model-based control of an active aerodynamic element |
US10035549B2 (en) * | 2015-09-17 | 2018-07-31 | GM Global Technology Operations LLC | Determination of aerodynamic actuation commands |
US10525784B2 (en) * | 2016-06-29 | 2020-01-07 | Upnride Robotics Ltd. | Self-leveling mechanism and method for wheeled mobility device |
CN106194641B (zh) * | 2016-06-29 | 2019-02-05 | 浙江科力车辆控制系统有限公司 | 一种驾驶室液压举升装置 |
CN106364270A (zh) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | 一种两轮差动机器人底盘 |
GB201710583D0 (en) * | 2017-07-02 | 2017-08-16 | Bird Alan Bryn | Vehicle suspension |
JP6902728B2 (ja) * | 2017-09-08 | 2021-07-14 | パナソニックIpマネジメント株式会社 | 移動体 |
CN108382146B (zh) * | 2018-03-16 | 2023-06-16 | 安徽工程大学 | 一种全地形移动机器人组合式车身悬挂装置 |
CN109533088A (zh) * | 2018-12-28 | 2019-03-29 | 天津朗誉科技发展有限公司 | 一种车架上移的agv车 |
CN109693599B (zh) * | 2019-01-30 | 2023-06-16 | 中国矿业大学 | 一种用于非牛顿流体运输电磁硬化底盘及控制方法 |
CN111376667B (zh) * | 2020-04-17 | 2024-02-13 | 合肥中科深谷科技发展有限公司 | 一种移动巡检操作机器人 |
CN112678087A (zh) * | 2020-12-31 | 2021-04-20 | 深圳市普渡科技有限公司 | 一种移动机器人及其行走机构 |
CN113022736B (zh) * | 2021-04-06 | 2022-11-04 | 广西邕城云科技有限公司 | 一种医疗运输小车 |
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- 2011-08-12 EP EP11177480.8A patent/EP2423011B1/en not_active Not-in-force
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10053166B2 (en) | 2014-04-28 | 2018-08-21 | Yanmar Co., Ltd. | Traveling vehicle |
JP2016068727A (ja) * | 2014-09-29 | 2016-05-09 | ヤンマー株式会社 | 走行車両 |
CN112955334A (zh) * | 2019-10-10 | 2021-06-11 | 瑞翼汽车有限公司 | 双轴车轮悬架 |
CN112955334B (zh) * | 2019-10-10 | 2022-03-04 | 瑞翼汽车有限公司 | 双轴车轮悬架 |
CN111660724A (zh) * | 2020-06-10 | 2020-09-15 | 安徽爱瑞特新能源专用汽车股份有限公司 | 一种无人驾驶扫地车用前桥减震装置 |
Also Published As
Publication number | Publication date |
---|---|
KR20120021199A (ko) | 2012-03-08 |
US20120053788A1 (en) | 2012-03-01 |
EP2423011B1 (en) | 2013-10-16 |
EP2423011A1 (en) | 2012-02-29 |
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