TH45314A - Vehicles with directional wheel sets - Google Patents

Abstract

DC60 (01/11/43) Vehicles with directional wheel set. At least one set (21) is used to sail on the navigation part (19) with a used surface. Drive the first two surfaces (54) diagonally across the guide center line (39) .The set of reels (21) consists of a pair of wheels (15) with each wheel (15) located on the straight side. The cross of the wheel set (21) is used to adhere to any surface. On one of the two surfaces (54), the vehicle has a measurement path (18) to measure the transverse displacement of the wheel set relative to the longitudinal relative reference line (41) by measuring path ( 18) It generates a signal for a control system with an excitation path (17) to control the wheel (15) in response to the measured transverse displacement, the spinning axis of the wheel (15) and the cruising surface. The first (54) is tilted down towards the guiding center line (39). Vehicles with a directional wheel set. At least one set (21) is used to sail on the navigation part (19) with a used Drive the first two surfaces (54) diagonally across the guide center line (39) .The set of reels (21) consists of a pair of wheels (15) with each wheel (15) located on the straight side. The cross of the wheel set (21) is used to adhere to any surface. On one of the two surfaces (54), the vehicle has a measurement path (18) to measure the transverse displacement of the wheel set relative to the longitudinal relative reference line (41) by measuring path ( 18) It generates a signal for a control system with an excitation path (17) to control the wheel (15) in response to the measured transverse displacement, the spinning axis of the wheel (15) and the cruising surface. The first (54) is tilted down towards the guiding center line (39).

Claims (12)

1. A vehicle with at least one set of steerable wheels is used to navigate a guide surface consisting of two offset track surfaces around the centerline. The wheel assembly consists of a pair of wheels, each mounted on opposite sides of the wheel assembly, for anchoring to one of two inner track surfaces. The vehicle is further equipped with sensing pathways to detect the transverse displacement of the wheels relative to a longitudinal reference line. These sensing pathways generate signals for a control system that is interconnected with actuation pathways to control the wheels in response to the detected transverse displacement, which is directed by the way the wheel axis of rotation and the first track surface tilt toward the centerline. 2. A vehicle as defined in Claim 1, in which each wheel provides traction to each first surface of the steering surface, where the traction force on each wheel consists of parts perpendicular to the first surface of the steering surface and parts parallel to the first surface of the steering surface perpendicular to the centerline, in which the horizontal force acting on the wheel assembly perpendicular to the centerline is opposed by the sum of the horizontal vectors of the perpendicular parts. 3. A vehicle as described in Representation 1, where each wheel exerts a force of adhesion to the first carriage surface at its point of contact, and the adhesion force on each wheel consists of a first device perpendicular to the first carriage surface and a second device parallel to the first carriage surface, perpendicular to the center of contact, where the first plane is perpendicular to the axis of rotation of one wheel passing through the center of each point of contact, and the second plane is perpendicular to the axis of rotation of the other wheel passing through the center of contact, respectively, where the first and second planes intersect at the intersection line above and between the wheels, where the horizontal force acting on the wheel assembly is perpendicular to the center of contact at or near the intersection line and is opposed by the perpendicular portion of the adhesion force acting on the first carriage surface such that all parallel portions of the adhesion force acting on the first carriage surface exist to control the wheel assembly. 4. A vehicle as specified in claim 3, where the intersection line passes through the center of gravity of the vehicle. 5. Vehicles as specified in Claims 1 to 3, where the trajectory of measurement consists of at least one sensor located in front of or behind the wheel assembly, or offset transversely to the wheel assembly; or, conversely, the trajectory of measurement consists of at least two sensors, one located in front of the wheel assembly and the other behind the wheel assembly. 6. Vehicles as specified in Claims 1 to 3, where the longitudinal reference line is parallel to the centerline, are guided. 7. Vehicles as specified in Claims 1 to 3, where the longitudinal reference line is parallel but deflected transversely from the centerline of navigation. 8. Vehicles as specified in Reservations 1 to 3, where the second travel surface is adjacent to and parallel to the first travel surface on at least one side. 9. Vehicles as specified in Claim 8, where the longitudinal reference line is parallel to the second travel surface. 10. Vehicles as specified in Reservations 1 to 3 shall have a second travel surface adjacent to and parallel to each first travel surface, and the longitudinal reference line shall be parallel to the transverse centerline between the two second travel surfaces. 11. Vehicles as specified in Reservations 8 to 10, in which at least one wheel has a flange for traction on a second track surface. 12. Vehicles as defined in Claim 1, where the control system calculates a virtual longitudinal reference line that is not necessarily parallel to or adjacent to the centerline of navigation.