SE508103C2

SE508103C2 - vehicle Wheels

Info

Publication number: SE508103C2
Application number: SE9604536A
Authority: SE
Inventors: Bengt Erland Ilon
Original assignee: Ilon B E
Priority date: 1996-12-20
Filing date: 1996-12-20
Publication date: 1998-08-24
Also published as: WO1998028158A1; DE19782168T1; SE9604536D0; GB9914183D0; GB2334924A; SE9604536L; AU5503398A

Abstract

The present invention relates to vehicle wheels for vehicles which are intended to be driven in optional directions, including a main driving direction (F). The vehicle has at least two pairs (14, 17) of wheels with wheels (12) including rims (26) consisting of a plurality of roller bodies (25). The rims (26) of roller bodies of the wheels (12) are obliquely oriented so that said rims (26) of roller bodies through outer roller bodies (25a) engage an underlayer (2), while inner roller bodies (25b) are situated above said underlayer (2). Furthermore, each roller body (25) is obliquely mounted relative the rim (26) of roller bodies so that outer portions (25c) of the roller body (25) are located at a higher level than inner potions (25d) of said roller body (25) relative to the rim (26) of roller bodies.

Description

508 103 fordonet inte lämpar sig att köras snabbt på ojämnt under- lag och definitivt inte för snabb körning i en huvudkör- riktning i ojämn terräng. 508 103 the vehicle is not suitable for fast driving on uneven ground and definitely not for fast driving in a main driving direction in uneven terrain.

Syftet med föreliggande uppfinning är att eliminera den ovannämnda nackdelen och andra nackdelar som kända fordons- hjul av ifrågavarande typ är behäftade med. Detta åstadkommes genom att det inledningsvis nämnda fordonshjulet i huvudsak erhållit de kännetecken som framgår av efterföljande patentkrav l.The object of the present invention is to eliminate the above-mentioned disadvantage and other disadvantages which known vehicle wheels of the type in question suffer from. This is achieved in that the initially mentioned vehicle wheel has essentially obtained the characteristics which appear from the following claim 1.

Genom att fordonshjulet uppvisar nämnda kännetecken kan for- donet köras snabbt i en huvudkörriktning annan valfri riktning på ojämnt underlag även om detta utgöres av ojämn terräng.Because the vehicle wheel has the above-mentioned characteristics, the vehicle can be driven quickly in a main driving direction, another optional direction on uneven ground, even if this consists of uneven terrain.

Uppfinningen skall nedan förklaras närmare med hänvisning till bifogade ritningar, på vilka figur l illustrerar ett fordon med fordonshjul enligt upp- finningen med en planvy; figur 2 illustrerar fordonet enligt figur l med en sidovy; figur 3 illustrerar fordonet enligt figur l med en frontvy och figur 4 illustrerar ett i fordonet enligt figur 1 ingående fordonshjul med en frontvy.The invention will be explained in more detail below with reference to the accompanying drawings, in which Figure 1 illustrates a vehicle with a vehicle wheel according to the invention with a plan view; Figure 2 illustrates the vehicle of Figure 1 with a side view; figure 3 illustrates the vehicle according to figure 1 with a front view and figure 4 illustrates a vehicle wheel included in the vehicle according to figure 1 with a front view.

På ritningarna illustreras ett fordon l för körning i valfri riktning pà ett underlag 2. Det illustrerade fordonet l kan köras rakt fram i en huvudkörriktning F, i en riktning rakt bakåt i förhållande till riktningen F, i en riktning rakt åt ena eller andra sidan eller någon annan valfri riktning såsom runt sitt eget centrum. Fordonet uppvisar ett underrede 3 bestående av främre delar 4, t.ex. en främre balk, bakre delar 5, t.ex. en bakre balk och yttre sidodelar 6 och 7, t.ex. 508 103 två sidobalkar, vilka förbinder den främre och bakre delen 4 och 5 med varandra. De främre och bakre delarna 4, 5 är tvärgående riktade i förhållande till huvudkörriktningen F och de yttre sidodelarna 6, 7 är parallellt riktade i för- hållande till huvudkörriktningen F.The drawings illustrate a vehicle 1 for driving in any direction on a surface 2. The illustrated vehicle 1 can be driven straight ahead in a main driving direction F, in a direction straight backwards relative to the direction F, in a direction straight to one or the other side or any other optional direction such as around its own center. The vehicle has a chassis 3 consisting of front parts 4, e.g. a front beam, rear parts 5, e.g. a rear beam and outer side parts 6 and 7, e.g. 508 103 two side beams, which connect the front and rear part 4 and 5 to each other. The front and rear parts 4, 5 are transversely directed in relation to the main driving direction F and the outer side parts 6, 7 are directed parallel in relation to the main driving direction F.

De yttre sidodelarna 6, 7 är anordnade på motsatta sidor om centrala delen 9, som sträcker sig parallellt med huvudkör- riktningen F och mellan nämnda yttre sidodelar 6, 7 är lämpligen anordnat förstärkningsdelar 8. Den centrala delen 9 kan uppvisa en med huvudkörriktníngen F parallell lagrings- anordning 9a för en främre arm 10 och en bakre arm 11. På den främre armen 10 är hjulen 12, 13 av ett främre hjulpar 14 anordnade på motsatta sidor om den centrala delens 9 lagrings- anordning 9a och på den bakre armen 11 är hjulen 15, 16 av ett bakre hjulpar 17 anordnade på motsatta sidor om nämnda lagringsanordning 9a.The outer side parts 6, 7 are arranged on opposite sides of the central part 9, which extends parallel to the main driving direction F and between said outer side parts 6, 7, reinforcing parts 8 are suitably arranged. The central part 9 may have a parallel parallel to the main driving direction F storage device 9a for a front arm 10 and a rear arm 11. On the front arm 10, the wheels 12, 13 of a front pair of wheels 14 are arranged on opposite sides of the storage device 9a of the central part 9 and on the rear arm 11 are the wheels 15, 16 of a rear pair of wheels 17 arranged on opposite sides of said storage device 9a.

Lagringsanordningen 9a medger att varje arm 10 resp. ll kan svänga kring en med huvudkörriktningen F parallell svängningsaxel 18 resp. 19, så att hjulen 12, 13 resp. 15, 16 kan svänga kring nämnda svängningsaxlar 18 resp. 19 i vertikala riktningar då fordonet 1 körs på underlaget 2. När exempelvis det ena hjulet 12 i det främre hjulparet 14 vid körning pà under- laget 2 svänger i vertikal riktning nedåt, svänger det andra hjulet 13 i nämnda hjulpar 14 i vertikal riktning uppåt och vice versa. När exempelvis det ena hjulet 15 i det bakre hjulparet 17 svänger i vertikal riktning nedåt så svänger det andra hjulet 16 i det bakre hjulparet 17 uppåt och vice versa.The storage device 9a allows each arm 10 resp. ll can pivot about an axis of rotation 18 resp. 19, so that the wheels 12, 13 resp. 15, 16 can pivot about said pivot axes 18 resp. 19 in vertical directions when the vehicle 1 is driven on the ground 2. When, for example, one wheel 12 in the front wheel pair 14 when driving on the ground 2 turns in the vertical direction downwards, the other wheel 13 in said wheel pair 14 turns in the vertical direction upwards and vice versa. For example, when one wheel 15 in the rear wheel pair 17 turns in the vertical direction downwards, the other wheel 16 in the rear wheel pair 17 turns upwards and vice versa.

De yttre ändpartierna av den främre armen 10 kan på motsatta sidor om lagringsanordningen 9a vara förbundna med yttre änd- partier av den bakre armen 11 via (icke visade) förbindelse- stag, som kan vara anordnade på armarna 10, 11 via sådana leder, som medger att armarnas 10, 11 kan svänga i vertikala kala riktningar i förhållande till varandra. 508 103 Varje hjul 12, 13, 15, 16 kan uppvisa en navdel 20, som är sa lagrad pà en lagringsanordning 21 pá resp. arm 10 resp. 11, att navdelen 20 kan roteras kring en rotationsaxel Rl, R2, R3 och R4. Varje navdel 20 kan nedtill uppvisa en skàlformad del 22, vilken har nedàtriktade hàllare 23, 24 för rullkroppar 25. Dessa är fritt roterbart lagrade att rotera kring rota- tionsaxlar R5 och varje hjul har exempelvis tolv stycken rull- kroppar 25 anordnade i en rullkroppskrans 26, som omger nav- delen 20 och som är roterbar kring sama rotationsaxel R1, R2, R3 och R4 som denna. Rullkropparna 25 är dessutom sá anordnade att deras rotationsaxlar R5 är snedställda i förhållande till linjer L som, sett uppifràn i riktning mot fordonet 1, är radiellt riktade i förhållande till rullkroppskransen 26.The outer end portions of the front arm 10 may on opposite sides of the storage device 9a be connected to outer end portions of the rear arm 11 via connecting rods (not shown), which may be arranged on the arms 10, 11 via such joints as allows the arms 10, 11 to pivot in vertical bald directions relative to each other. Each wheel 12, 13, 15, 16 can have a hub part 20, which is then mounted on a storage device 21 on resp. arm 10 resp. 11, that the hub part 20 can be rotated about an axis of rotation R1, R2, R3 and R4. Each hub part 20 may at the bottom have a shell-shaped part 22, which has downwardly directed holders 23, 24 for roller bodies 25. These are freely rotatably mounted to rotate about rotary axes R5 and each wheel has for instance twelve roller bodies 25 arranged in a roller body ring 26. , which surrounds the hub part 20 and which is rotatable about the same axis of rotation R1, R2, R3 and R4 as this. The roller bodies 25 are furthermore arranged such that their axes of rotation R5 are inclined with respect to lines L which, seen from above in the direction of the vehicle 1, are radially directed relative to the roller body ring 26.

Exempelvis kan en vinkel V4 mellan rotationsaxlarna R5 och linjen L vara 30-50°, företrädesvis cirka 40°.For example, an angle V4 between the axes of rotation R5 and the line L may be 30-50 °, preferably about 40 °.

Rullkropparna 25 pà hjulen 12, 13 i det främre hjulparet 14 kan lämpligen vara så riktade, att förlängningslinjer L2, L3 till rotationsaxlarna RS till två sádana av dessa rullkroppar 25, som befinner sig längst bak i rullkroppskransarna 26 till hjulen 12 och 13, sett uppifràn i riktning mot fordonet 1, skär varandra bakom det främre hjulparet 14. Rullkropparna 25 pà hjulen 15, 16 i det bakre hjulparet 17 kan lämpligen vara sà riktade, att förlängningslinjer L4, L5 till rotations- axlarna R5 till tvá sádana av dessa rullkropppar 25, som be- finner sig längst fram i rullkroppskransarna 26 till hjulen 15 och 16, sett uppifràn i riktning mot fordonet 1, skär varandra framför det bakre hjulparet 17.The roller bodies 25 on the wheels 12, 13 in the front pair of wheels 14 may suitably be so directed that extension lines L2, L3 to the axes of rotation RS of two such of these roller bodies 25, which are located at the rear of the roller body rings 26 to the wheels 12 and 13, seen from above in the direction of the vehicle 1, intersect behind the front wheel pair 14. The roller bodies 25 on the wheels 15, 16 in the rear wheel pair 17 may suitably be directed so that extension lines L4, L5 to the axes of rotation R5 to two such of these roller body pairs 25, located at the front of the roller body rings 26 to the wheels 15 and 16, seen from above in the direction of the vehicle 1, intersect in front of the rear wheel pair 17.

Varje rullkropp 25 kan vara delad i tvà rullkroppsdelar, nämligen en inre rullkroppsdel 27 och en yttre rullkroppsdel 28. Dessa är fritt roterbara kring nämnda rotationsaxel RS och varje rullkropp kan hállas fast vid navdelens 20 skal- formade del 22 via en nedàtriktad hàllare 23 placerad innan- för den inre rullkroppsdelen 27 och en hållare 24 placerad mellan de bàda rullkroppsdelarna 27, 28. i 508 103 Varje rullkropp 25 kan vara något spolformad och yttre delar av rullkropparna 25 kan, sett uppifrån i riktning mot fordonet, befinna sig något utanför den skàlformade delens 22 ytterkant.Each roller body 25 can be divided into two roller body parts, namely an inner roller body part 27 and an outer roller body part 28. These are freely rotatable about said axis of rotation RS and each roller body can be held to the shell-shaped part 22 of the hub part 20 via a downwardly held holder 23 placed before for the inner roller body part 27 and a holder 24 placed between the two roller body parts 27, 28. In 508 103 Each roller body 25 may be slightly coil-shaped and outer parts of the roller bodies 25 may, seen from above in the direction of the vehicle, be slightly outside the shell-shaped the outer edge of the part 22.

De fyra hjulen 12, 13, 15, 16 är individuellt drivna av drivaggregat D1-D4, som kan rotera nämnda hjul 12, 13, 15, 16 individuellt kring sina rotationsaxlar R5 i medurs eller moturs riktning. Drivaggregaten Dl-D4 kan vara av känd typ och de är därför endast antydda på ritningarna med punkt- streckade linjer och de styrs av en (icke visad) styrenhet, som också kan vara av känd typ. I vilken riktning hjulen 12, 13, 15, 16 skall drivas individuellt för att åstad- koma fordonets 1 önskade färdriktning framgår av skrif- terna SE 363 781 (US 3,746,l12) eller US 4,258,8l5.The four wheels 12, 13, 15, 16 are individually driven by drive assemblies D1-D4, which can rotate said wheels 12, 13, 15, 16 individually about their axes of rotation R5 in a clockwise or counterclockwise direction. The drive units D1-D4 can be of known type and they are therefore only indicated in the drawings with dotted lines and they are controlled by a control unit (not shown), which can also be of known type. The direction in which the wheels 12, 13, 15, 16 are to be driven individually in order to achieve the desired direction of travel of the vehicle 1 is stated in the documents SE 363 781 (US 3,746, 112) or US 4,258,85.

Rullkroppskransen 26 vid varje hjul 12, 13, 15, 16 är, sett i riktningen FF framifrån mot fordonet 1, så snedställt an- ordnad, att sådana yttre rullkroppar 25a av rullkroppskransen 26, som är belägna närmast nämnda yttre sidodelar 6 eller 7, är belägna på lägre nivåer än inre rullkroppar 25b av rull- kroppskransen 26, som är belägna närmast nämnda centrala delar 9. Härigenom kommer hjulen 12, 13 resp. 15, 16 i varje hjulpar 14 resp. 17 att anligga mot underlaget 2 via de yttre rull- kropparna 25a medan de inre rullkropparna 25b kommer att be- finna sig ovanför underlaget 2.The roller body ring 26 at each wheel 12, 13, 15, 16 is, seen in the direction FF from the front towards the vehicle 1, so inclinedly arranged that such outer roller bodies 25a of the roller body ring 26, which are located closest to said outer side parts 6 or 7, are located at lower levels than inner roller bodies 25b of the roller body ring 26, which are located closest to the said central parts 9. As a result, the wheels 12, 13 and 15, 16 in each pair of wheels 14 resp. 17 to abut against the substrate 2 via the outer roller bodies 25a while the inner roller bodies 25b will be located above the substrate 2.

Varje rullkropp 25 är snedställd på sàdant sätt i förhållande till rullkroppskransen 26, att yttre delar 25c av varje rullkropp 25 kommer att befinna sig på en högre nivå än inre delar 25d av rullkroppen 25 i förhållande till rullkropps- kransen 26. Rullkroppskransen 26 kan närmare bestämt vara roterbar i ett plan P, som, sett i riktning FF framifrån mot fordonet 1, är så snedställt, att de yttre rullkropparna 25a är belägna på lägre nivåer än de inre rullkropparna 25b. Varje rullkropp kan närmare bestämt vara snedställd på sådant sätt i förhållande till nämnda plan P, att de i förhållande till rullkroppskransens 26 yttre delar 25c av varje rullkropp 25 508 103 befinner sig på en högre nivå än de inre delarna 25d av rull- kroppen 25 i förhållande till nämnda plan P. Härigenom kommer varje rullkropp 25 att sträcka sig snett utåt/uppåt i förhållande till nämnda plan P.Each roller body 25 is inclined relative to the roller body ring 26 so that outer portions 25c of each roller body 25 will be at a higher level than inner portions 25d of the roller body 25 relative to the roller body ring 26. More specifically, the roller body ring 26 may be be rotatable in a plane P, which, seen in the direction FF from the front towards the vehicle 1, is so inclined that the outer roller bodies 25a are located at lower levels than the inner roller bodies 25b. More specifically, each roller body can be inclined in relation to said plane P in such a way that they are at a higher level than the inner parts 25d of the roller body 25 in relation to the outer parts 25c of the roller body ring 26 of each roller body 25 508 103. relation to said plane P. Hereby each roller body 25 will extend obliquely outwards / upwards in relation to said plane P.

Varje plan P kan, sett i riktning FF framifrån mot fordonet 1, bilda en spetsig vinkel V1 med underlaget 2 och rota- tionsaxeln R5 kan bilda en spetsig vinkel V2 med nämnda plan P. Vidare kan vinklarna V1 resp. V2 mellan nämnda plan P och underlaget 2 resp. mellan rullkroppens 25 rotationsaxel R5 och nämnda plan P vara lika stora eller i huvudsak lika stora.Each plane P, seen in the direction FF from the front towards the vehicle 1, can form an acute angle V1 with the ground 2 and the axis of rotation R5 can form an acute angle V2 with said plane P. Furthermore, the angles V1 resp. V2 between said plane P and the substrate 2 resp. between the axis of rotation R5 of the roller body 25 and said plane P be equal in size or substantially equal in size.

Vinkeln V1 mellan nämnda plan P och underlaget 2 kan vara 4- 40°, företrädesvis ca. l0°, och vinkeln V2 mellan rullkroppens 25 rotationsaxel R5 och nämnda plan P kan vara 4-40°, före- trädesvis ca. 10°.The angle V1 between said plane P and the substrate 2 may be 4-40 °, preferably approx. 10 °, and the angle V2 between the axis of rotation R5 of the roller body 25 and said plane P may be 4-40 °, preferably approx. 10 °.

Som framgår av figur 4, kan vinkeln V3 mellan planet P och rotationsaxeln Rl, R2, R3 eller R4, sett framifrån i riktning FF mot fordonets 1, vara rät. Nämnda rotationsaxel Rl, R2, R3, R4 kan, sett från sidan S mot fordonet 1, vara vertikalt riktad i förhållande till underlaget 2.As can be seen from Figure 4, the angle V3 between the plane P and the axis of rotation R1, R2, R3 or R4, seen from the front in the direction FF towards the vehicle 1, can be right. Said axis of rotation R1, R2, R3, R4 can, seen from the side S towards the vehicle 1, be vertically directed in relation to the ground 2.

Nedre delar 29 av rullkroppskransens 26 rullkroppar 25 kan, sett i riktning S från sidan mot fordonet 1, följa en uppåt- böjd båglinje 30. Denna båglinje 30 kan vara en cirkelbåge 31, vars centrum C befinner sig på en sådan förlängnings- linje L6, L7, L8 resp. L9, som förlänger rotationsaxeln Rl, R2, R3 resp. R4 i riktning uppåt från underlaget 2. Nämnda nedre delar 23 av rullkroppskransens 26 rullkroppar 25 kan, sett i riktning FF framifrån mot fordonet 1, också vara an- ordnade att följa en uppàtböjd båglinje 30, företrädesvis cirkelbågen 31. Radien R för cirkelbågen 31 är företrädesvis väsentligt större än ytterdiametern D på rullkroppskransen 26 på varje hjul 12, 13, 15, 16. Exempelvis kan radien R vara minst dubbelt så stor som nämnda ytterdiameter D.Lower parts 29 of the roller bodies 25 of the roller body ring 26 can, seen in direction S from the side towards the vehicle 1, follow an upwardly curved arcuate line 30. This arcuate line 30 may be an arc of a circle 31, the center C of which is located on such an extension line L6, L7, L8 resp. L9, which extends the axis of rotation R1, R2, R3 resp. R4 in the upward direction from the base 2. Said lower parts 23 of the roller bodies 25 of the roller body ring 26, seen in the direction FF from the front towards the vehicle 1, can also be arranged to follow an bent-up arc line 30, preferably the circular arc 31. The radius R of the circular arc 31 is preferably substantially larger than the outer diameter D of the roller body ring 26 on each wheel 12, 13, 15, 16. For example, the radius R may be at least twice as large as said outer diameter D.

Rotationsaxlarna Rl-R4 kan, sett framifrån i riktning FF 508 103 mot fordonet 1 vara sà snedställda till ett vertikalplan V, att de bildar en vinkel V5 med vertikalplanet (se figur 4).The axes of rotation R1-R4 can, seen from the front in the direction FF 508 103 towards the vehicle 1, be so inclined to a vertical plane V that they form an angle V5 with the vertical plane (see figure 4).

Vinkeln V5 kan vara 4-40° och är företrädesvis cirka lO°.The angle V5 may be 4-40 ° and is preferably about 10 °.

Varje hjul 12, 13, 15, 16 och företrädesvis en i detta in- gàende navdel 20 kan vara anordnad pà respektive arm 10 resp. 11 att svänga kring en svängningsaxel 32 som korsar rotations- axeln Rl, R2, R 3 eller R4 och som företrädesvis sträcker sig i tvärgáende riktning i förhållande till fordonets 1 huvud- körriktning F. Härigenom kan varje hjul 12, 13, 15, 16 svänga i riktning framåt/bakàt i förhållande till nämnda vid i huvud- körriktningen F framåt eller bakat vid körning pà ojämnt underlag 2.Each wheel 12, 13, 15, 16 and preferably a hub part 20 included in this input can be arranged on the respective arm 10 and 10, respectively. 11 to pivot about a pivot axis 32 which intersects the axis of rotation R1, R2, R3 or R4 and which preferably extends in the transverse direction relative to the main direction F of the vehicle 1. As a result, each wheel 12, 13, 15, 16 can pivot in the forward / reverse direction in relation to the said at in the main driving direction F forward or reverse when driving on uneven ground 2.

Uppfinningsföremälet är inte begränsat till det ovan be- skrivna och pà ritningarna visade utförandet utan detsamma kan variera inom ramen för efterföljande patentkrav. Som exempel pá alternativ till det beskrivna utförandet kan nämnas att underredet 3 kan vara av annan konstruktion än det visade, att hjulen 12, 13, 15, 16 kan vara utformade pà annat sätt än det beskrivna, att rullkropparna 25 kan bestà av en eller ett annat lämpligt antal delar och att fordonet 1 kan uppvisa mer än tvá hjulpar 14, 17.The object of the invention is not limited to the embodiment described above and shown in the drawings, but the same may vary within the scope of the appended claims. As an example of an alternative to the described embodiment, it can be mentioned that the chassis 3 can be of a different construction than the one shown, that the wheels 12, 13, 15, 16 can be designed in a different way than that described, that the roller bodies 25 can consist of one or one another suitable number of parts and that the vehicle 1 can have more than two pairs of wheels 14, 17.

Claims

508 103 Patent claim: IlII ﬁ lfIIIIII ﬂ lI / I

Vehicle wheels for vehicles intended to be driven in any direction, including a main direction of travel, the vehicle (1) having front parts (4) relative to the main direction of travel (F) and central parts (9) arranged substantially parallel to said main direction of travel (F) and outer side parts (6, 7) arranged on opposite sides of said central parts (9), the vehicle (1) having at least two pairs of wheels (14, 17), the wheels (12, 13, 15, 16) in each pair of wheels ( 14 and 17, respectively) are arranged on opposite sides of the central parts (9) of the vehicle (1), the wheels (12, 13, 15, 16) being individually drivable to be rotated in both clockwise and counterclockwise directions, and 508 103 q each wheel (12, 13, 15, 16) having a roller body ring (26) consisting of a plurality of roller bodies (25), which are freely rotatably mounted and via which the wheel (12, 13, 15, 16) is intended to abut against a base (2) on which the vehicle (1) is mounted, characterized in that the roller body ring (26) at each wheels (12, 13, 15, 16), seen in the direction (FF) from the front towards the vehicle (1), are arranged so obliquely that outer roller bodies (25a) located closest to the outer side parts (6, 7) of the vehicle (1) ) of the roller body ring (26) are located at lower levels than internal, roller bodies (25b) located closest to the central parts (9) of the vehicle (1) of the roller body ring (26), so that the wheels (12, 13, 15, 16) in each pair of wheels (14 resp. 17) abuts against said base (2) via said outer roller bodies (25a) while said inner roller bodies (25b) are located above the base (2), and that each roller body (25) is so obliquely arranged in relation to the roller body ring (26) ), that outer parts (25c) of the roller body (25) are at a higher level than inner parts (25d) of the roller body (25), so that each roller body (25) extends obliquely outwards / upwards relative to the roller body ring (26).

Vehicle wheel according to claim 1, characterized in that the roller body ring (26) at each wheel (12, 13, 15, 16) is rotatable in a plane (P) which, seen in the direction (FF) from the front to the vehicle (1) is so inclined that the outer roller bodies (25a) are located at lower levels than the inner roller bodies (25b), and that each roller body (25) in the roller body ring (26) is inclined at such in relation to said plan (P), 508 103 IO. that in relation to the roller body ring (26) the outer parts (25c) of each roller body (25) are at a higher level than the inner parts (25d) of the roller body (25) relative to said plane (P).

Vehicle wheel according to Claim 2, characterized in that each plane (P), seen in the direction (FF) in front of the vehicle (1), forms an acute angle (V1) with the ground (2) and that an axis of rotation (R5), around which the roller body (25) rotates, forms an acute angle (V2) with said plane (P).

Vehicle wheel according to claim 3, characterized in that the angles (V1 or V2) between said plane (P) and the ground (2) resp. between the axis of rotation (R5) of the roller body (25) and said plane (P) are equal or substantially equal.

Vehicle wheel according to any one of claims 2 - 4, characterized in that the angle (V1) between said plane (P) and the ground (2) is 4-40 °, preferably approx. 10 °, and that the angle (V2) between the axis of rotation (R5) of the roller body (25) and said plane (P) is 4-40 °, preferably approx. 10 °.

Vehicle wheel according to one of Claims 2 to 5, characterized in that an axis of rotation (R1, R2, R3, R4), around which the roller body ring (26) rotates, extends at right angles (V3) relative to said plane (P), and that said axis of rotation (R1, R2, R3, R4), seen from the side towards the vehicle (1) in the transverse direction (S) in relation to the main direction of travel (F) of the vehicle, is vertically directed 508 103 in relation to said substrate (2).

Vehicle wheel according to one of the preceding claims, characterized in that lower parts (29) of the roller bodies (25) of the roller body ring (26), seen from the side towards the vehicle (1) in the transverse direction (S) in relation to the main direction of travel of the vehicle (1) (F), follows an upwardly curved arcuate line (30). '

Vehicle wheel according to one of the preceding claims, characterized in that the roller bodies (25) of the roller body ring (26) are arranged such that lower parts (29) thereof follow an upwardly curved arcuate line (30) in the form of an arc of a circle (31), the center of which (C) is located on an extension line (L6, L7, L8 and L9, respectively) which extends an axis of rotation (R1, R2, R3 and R4, respectively), which extends at right angles (V3) to said plane (P) and around which the roller body ring (26) rotates.

Vehicle wheel according to one of Claims 7 or 8, characterized in that lower parts (23) of the roller bodies (25) of the roller body ring (26), seen in the direction (FF) from the front towards the vehicle (1), are also arranged to follow an upwardly curved arcuate line (30), preferably a circular arc (31).

Vehicle wheel according to one of the preceding claims, characterized in that axes of rotation (R1, R2 and R3, R4), respectively, around which the roller body rings (26) on each wheel (12, 13 and 15, 16) in each pair of wheels (14 and 17) rotates, seen in the direction (FF) from the front towards the vehicle (1), are so obliquely arranged in relation to each other that downward extension lines (L10, L11 and L12, L13) to said axes of rotation (R1, R2 and R3, respectively) , R4) meet below the vehicle (1) when this is set up on the ground (2).

Vehicle wheels according to one of the preceding claims, 508 103 of which the wheels (12, 13 and 15, 16, respectively) of the front pair of wheels (14) resp. the rear wheel pair (17) are arranged on the front resp. rear arms (10 and 11, respectively), and that each arm (10 and 11, respectively) is arranged to pivot about a pivot axis (18 and 19, respectively), which is arranged between those on resp. arm (10 and 11, respectively) arranged wheels (12, 13 and 15, 16, respectively), said pivot axis (18 and 19, respectively) preferably extending parallel to the main direction of travel (F) of the vehicle (1), whereby each arm (10 and 11, respectively) can pivot about said pivot axis (18 and 19, respectively) and each wheel (12, 13, 15, 16) is movable in the vertical direction about said pivot axis (18 and 19, respectively) when driving on the ground ( 2).

Vehicle wheel according to one of the preceding claims, characterized in that each wheel (12, 13, 15, 16) is pivotally arranged relative to an arm (10, 11) included in the vehicle (1) so that the wheel (12, 13 , 15, 16) can pivot about a pivot axis (32) relative to the arm (10, 11) when driving on the ground (2), said pivot axis (32) being transversely directed relative to the main direction of travel (F) of the vehicle (1) , whereby each wheel (12, 13, 15, 16) can turn in the forward / backward direction relative to said main driving direction (F).

Vehicle wheel according to one of the preceding claims, characterized in that each wheel (12, 13, 15, 16) has a rotatably mounted hub part (20), which has a part (22) with an upwardly curved cup shape on which holder ( 23, 24) for the roller bodies (25) are mounted, which part (22) with upwardly curved bowl shape preferably has a spherical surface whose center is located above the wheel (12, 13, 15, 16) on a in relation to the base (2 ) upward extension line (L6, L7, L8, L8, L9) of a rotational axis (R1, R2, R3, R4) about which the roller body ring (26) and the hub portion (20) rotate.

Vehicle wheel according to one of the preceding claims, characterized in that the roller bodies (25) are arranged, seen from above in the direction of the vehicle (1), so that their axes of rotation (R5) are inclined relative to lines (L) which are directed radially in relation to the roller body rings (26), the angle (V4) between the axis of rotation (R5) of the roller bodies (25) and said lines (L) being, for example, 30-50 °, preferably about 40 °.

Vehicle wheel according to one of the preceding claims, characterized in that the roller bodies (25) on the wheels (12, 13) in the front pair of wheels (14) are so directed that extension lines (L2, L3) to the axles of rotation (R5) to two at the rear in the roller body rings (26) existing roller bodies (25) for both wheels (12, 13) in the front wheel pair (14), seen from above in the direction of the vehicle (1), intersect behind said front wheel pair (14), and that extension lines (L3, L4) to the axes of rotation (R5) to two roller bodies (25) at the front of the roller body rings (26) to two wheels (15, 16) in the rear wheel pair (17), seen from above in the direction of the vehicle ( 1), intersect in front of said rear wheel pair (17).

Vehicle wheel according to one of the preceding claims, characterized in that each roller body (25) is divided into two roller body parts (27, 28), between which roller body parts (27, 28) a holder (24) is arranged to hold the roller body (25). ) at a hub part (20), in 508 103 V) that preferably a further holder (23) for holding the roller body (25) at the hub part (20) is arranged inside an inner roller body part (27) of the two roller body parts (27, 28). ) In that each roller body (25) is preferably slightly coil-shaped, and that parts of the roller body (25), seen from above in the direction of the vehicle (1), are preferably located outside an outer edge of a shell-shaped part (22) of the hub part (22). 20).