WO1999054190A1 - Arrangement for vehicles - Google Patents
Arrangement for vehicles Download PDFInfo
- Publication number
- WO1999054190A1 WO1999054190A1 PCT/SE1999/000618 SE9900618W WO9954190A1 WO 1999054190 A1 WO1999054190 A1 WO 1999054190A1 SE 9900618 W SE9900618 W SE 9900618W WO 9954190 A1 WO9954190 A1 WO 9954190A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wheel
- driving
- controlling
- vehicle
- arrangement
- Prior art date
Links
Classifications
-
- 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
- B60B33/0052—Castors in general; Anti-clogging castors characterised by details of the rolling axle the rolling axle being inclined
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
- B62D51/001—Motor vehicles characterised by the driver not being seated characterised by the vehicle control device
-
- 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
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G1/00—Scaffolds primarily resting on the ground
- E04G1/18—Scaffolds primarily resting on the ground adjustable in height
- E04G1/22—Scaffolds having a platform on an extensible substructure, e.g. of telescopic type or with lazy-tongs mechanism
Definitions
- This invention relates to an arrangement for carrying out unlimited movement patterns in a horizontal plane comprising a chassis carried by at least three wheel means, at least one wheel means functioning as a driving and controlling wheel and the arrangement comprising a computer-based, electronic controlling system, which can be programmed for intended purpose, and which is adapted for use in vehicles.
- This patent discloses four rectangularly positioned wheels, of which the one pair of diagonally placed wheel comprises driving and controlling wheels.
- These driving and controlling wheels are of conventional type and arranged in that way that the driving shaft of the wheel, about which the wheel is intended to rotate, is arranged in parallel with the horizontal line.
- a plane through the wheel itself forms a right angle to the bed/ground that the wheel is rolling on, which has the consequence that the distance between the chassis carried by the known driving and controlling wheels and the bed/ground will become unnecessarily large.
- This fact in its turn has the effect that a vehicle comprising the known arrangement and a high superstructure becomes unnecessarily unstable, which leads to a great risk for tipping of the vehicle.
- the wheel means of the known driving and controlling device is designed in that way that it is like the wheel means of a conventional caster wheel device. This fact has the consequence that the driving and controlling wheel means does not get optimum motion qualities but there is a risk that when attempting to make rapid motion direction changes for the known vehicle, the wheel means will be subjected to tendencies of skidding, which leads to an increased wear of both wheel means and bed/ground.
- This invention relates to an improvement of the known arrangement and can accordingly provide a chassis with superstructure (vehicle), which makes possible an extremely smooth motion forwards and a smooth positioning of the vehicle close to an object, for instance when making service jobs on or at an aircraft body.
- a chassis with superstructure vehicle
- FIG. 1 shows a rectangular chassis with a wheel means in each corner
- Fig. 2 shows an operating panel
- Fig. 3 shows the chassis according to the invention provided with a new type of working platform
- Fig. 4 shows the vehicle according to Fig. 3 but with the working platform in a raised position
- Fig. 5 shows an example of a driving and controlling wheel means for use in the invention. 2
- Fig. 1 With reference to Fig. 1 is shown there the chassis according to the invention, which according to this embodiment is rectangular regarding the design and has a wheel means 1-4 in each corner.
- the two diagonally positioned wheel means 2,4 are essentially uniform and are composed of conventional caster wheels.
- the remaining two, diagonally positioned wheel means 1,3 have a special design, are driven and can be turned (swivelled), and therefore these two wheel means are arranged for the driving and controlling (steering) function.
- Each wheel means 1,3 is obliquely arranged and has a sub-spherical rolling path. Furthermore, each wheel means 1,3 is driven by an electric motor and can be separately controlled, i.e. steered.
- Each of the wheel means 1,3 is intended to be able to rotate about a first axis 5, which functions as a driving shaft, and which forms an angle with a horizontal plane which is greater than 0° but less than 90°, usually 30-45° (see Fig. 5). Furthermore, the wheel means 1,3 has such a design that it can roll round about a second, essentially vertical axis 6 without the chassis moving itself. This ability leads to a varying motion patterns of the chassis and makes possible for the chassis to be able to pass sharp corners without problems. As a matter of fact, the chassis provided with these special wheels 1,3 can be operated out from and into narrow places in a way that has no correspondence with chassis provided with conventional wheels. Equipped with the new arrangement vehicles can be transported forwards in spaces requiring a small turning radius and give that essential advantage that transporting ways can be optimised and minimised and by that can give an essentially better utilization of worthful areas.
- this invention gives advantages like those that no increased wear arises neither on the wheel nor on the bed/ground when twisting or turning the wheel, since the design of the driving and controlling wheel is such that tendencies of skidding of the same are eliminated.
- Another advantage with this invention is that, due to the fact that the wheel is obliquely positioned, the distance between the chassis and the bed/ground can be small, relatively spoken, which makes a vehicle equipped with this new wheel arrangement more stable than known vehicles in the field.
- the wheel means according to the invention are designed in that way that they can take their positions while the chassis is completely immovable, and this means that it is possible to reach an object on the shortest way.
- the rolling point P of the wheel means against the bed/ground is laterally positioned in relation to the vertical axis 6. This means that when turning the wheel means one revolution about the axis 6, a circle will be formed on the bed/ground by the rolling point P of the wheel means.
- the gear ratio between the axes 5 and 6 is related to the diameter D of the wheel and the angle between the axis 5 and the horizontal plane.
- the gear ratio between the axes 5 and 6 is 1:1. That should mean that the wheel in its rolling plane should have the same circumference ( ⁇ x D) as the circle that is formed on the bed/ground by the rolling point P during a turning of one revolution of the wheel means about the axis 6. In such a case the distance A should be the same as 0,5 D (does not apply for Fig. 5).
- gear ratio between the axes 5 and 6 can be varied.
- a main purpose of this invention is a further development of the known arrangement in order to satisfy the requirements about new operation and positioning possibilities of the vehicle which is provided with the arrangement.
- the new chassis comprises a computer-based, electronic controlling system, which can be programmed in different ways, and which in combination with the two special wheels provides unlimited motion possibilities of the new chassis.
- each driving and controlling wheel is provided with one or more pulse transducers, which all the time give signals to the computer adapted for use in vehicles.
- These signals for instance comprising the angle position and the speed of the wheel means is treated with lightning rapidity by the computer which compares the information with the motion schedule, programmed in advance, and if that is necessary gives an order about correction to the wheel means in form of controlling and driving impulses.
- Fig. 5 are indicated partly a first transducer 12a, sensing the driving shaft 6, partly a second transducer 12b, sensing the controlling function of the wheel means.
- Fig. 2 an operation panel by means of which the chassis can be driven and controlled.
- this panel there is among others the means 7 for control of the chassis and the means 8 for driving of the chassis forwards and backwards.
- FIG. 3,4 A preferred superstructure is shown in Fig. 3,4 and this superstructure comprises a raisable and lowerable working platform 10 provided with a prolongation part 9.
- This working platform is intended to be raised and lowered by means of an articulated lift 11, hydraulically driven, and has such a design that it can be prolonged and become no less than nine meters long without being unstable.
- the raising of the platform and the pushing out and the pulling in of the prolongation part of the platform, respectively, is preferably made in a hydraulic way, the operation being made from the previously mentioned operation panel.
- the chassis and/or the working platform (vehicle) is provided with a collision protection in the form of photo cells, which break all functions if the vehicle comes too close any object. Due to that fact the vehicle stops immediately.
- the new invention has been tested for a special field of use, namely when making service jobs on the upper side of an aircraft body.
- the operation panel is adjusted for optional movement, whereafter the vehicle is driven up along and parallel with the aircraft body, so that the vehicle takes a position close to the rear portion of the aircraft wing.
- the working platform is raised to intended height, whereafter the vehicle is driven further towards the aircraft body so that the working platform takes a position above the aircraft body.
- the platform is pushed out to full length, whereby jobs can be done along a great part of the upper side of the aircraft body. It should be clear for everyone that this operation of the vehicle close to the aircraft body is a very delicate task and should be almost impossible with a conventional vehicle.
- the new vehicle also has transducers sensing the platform height and adapt the movement velocity to this fact. There are also transducers sensing overload and an inclination which is too large, which immediately leads to an automatic stop.
- transducers sensing overload and an inclination which is too large, which immediately leads to an automatic stop.
- the special form of the wheel facilitates the positioning of a chassis at an object.
- the wheel means can take positions while the chassis is completely immovable and this fact means that the object can be reached in the shortest and quickest way.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Vehicle Body Suspensions (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU40667/99A AU4066799A (en) | 1998-04-17 | 1999-04-19 | Arrangement for vehicles |
EP99924080A EP1071602A1 (en) | 1998-04-17 | 1999-04-19 | Arrangement for vehicles |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9801330-3 | 1998-04-17 | ||
SE9801330A SE9801330D0 (en) | 1998-04-17 | 1998-04-17 | Arrangements by vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999054190A1 true WO1999054190A1 (en) | 1999-10-28 |
Family
ID=20410983
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE1999/000618 WO1999054190A1 (en) | 1998-04-17 | 1999-04-19 | Arrangement for vehicles |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1071602A1 (en) |
AU (1) | AU4066799A (en) |
SE (1) | SE9801330D0 (en) |
WO (1) | WO1999054190A1 (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004007266A1 (en) * | 2002-07-15 | 2004-01-22 | Stock Of Sweden Ab | An industrial truck |
WO2004007262A1 (en) * | 2002-07-15 | 2004-01-22 | Stock Of Sweden Ab | A vehicle and a method for controlling steering thereof |
DE102004020932A1 (en) * | 2004-04-28 | 2005-12-01 | Zoltan Soltesz | Chassis for land vehicle, has inclined axle arranged in wheels whose axes of rotation includes hitch angle of preset degree, where each wheel has shaft that is twistable around vertical steering axle relative to frame of vehicle |
WO2007073308A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangement |
WO2007073306A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangement |
CN102050411A (en) * | 2010-12-30 | 2011-05-11 | 中国科学院长春光学精密机械与物理研究所 | Ground lifting machine for aerial remote sensor |
WO2013166593A1 (en) * | 2012-05-10 | 2013-11-14 | Rideup Mobility Inc. | Mobility transport system and method having a plurality of motorized wheel assemblies |
WO2015134482A1 (en) | 2014-03-03 | 2015-09-11 | Xtreme Manufacturing, Llc | Method and system for a lift device control system |
CN105672636A (en) * | 2015-11-19 | 2016-06-15 | 中建七局第二建筑有限公司 | Elevating device for indoor construction |
CN108818493A (en) * | 2018-07-16 | 2018-11-16 | 汕头大学 | A kind of compound mobile robot and compound Mobile Robot Control System |
CN110319313A (en) * | 2019-07-05 | 2019-10-11 | 日照职业技术学院 | A kind of construction survey elevation and subsidence regulating device |
CN113879046A (en) * | 2021-11-28 | 2022-01-04 | 中国船舶重工集团公司第七一三研究所 | Steering axle suitable for omnidirectional vehicle |
CN114103550A (en) * | 2021-11-28 | 2022-03-01 | 中国船舶重工集团公司第七一三研究所 | Steering drive wheel train suitable for omnidirectional vehicle |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104110124A (en) * | 2014-07-25 | 2014-10-22 | 广东信海建筑有限公司 | Inserted lift scaffold with video security monitoring system |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3820631A (en) * | 1973-03-08 | 1974-06-28 | Aircraft Mechanics | Platform lift mechanism |
WO1988003492A1 (en) * | 1986-11-07 | 1988-05-19 | Max Segerljung | Wheel means for moving objects |
US5083629A (en) * | 1990-03-12 | 1992-01-28 | Industrial Technology Research Institute | Walking control method for automatic working vehicle |
US5609220A (en) * | 1992-08-27 | 1997-03-11 | Kabushiki Kaisha Komatsu Seisakusho | Operation control system for traveling vehicle |
EP0850822A1 (en) * | 1996-12-27 | 1998-07-01 | EXPRESSO DEUTSCHLAND TRANSPORTGERÄTE GmbH | Disabled person's automotive shopping cart |
-
1998
- 1998-04-17 SE SE9801330A patent/SE9801330D0/en unknown
-
1999
- 1999-04-19 EP EP99924080A patent/EP1071602A1/en not_active Withdrawn
- 1999-04-19 AU AU40667/99A patent/AU4066799A/en not_active Abandoned
- 1999-04-19 WO PCT/SE1999/000618 patent/WO1999054190A1/en not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3820631A (en) * | 1973-03-08 | 1974-06-28 | Aircraft Mechanics | Platform lift mechanism |
WO1988003492A1 (en) * | 1986-11-07 | 1988-05-19 | Max Segerljung | Wheel means for moving objects |
US5083629A (en) * | 1990-03-12 | 1992-01-28 | Industrial Technology Research Institute | Walking control method for automatic working vehicle |
US5609220A (en) * | 1992-08-27 | 1997-03-11 | Kabushiki Kaisha Komatsu Seisakusho | Operation control system for traveling vehicle |
EP0850822A1 (en) * | 1996-12-27 | 1998-07-01 | EXPRESSO DEUTSCHLAND TRANSPORTGERÄTE GmbH | Disabled person's automotive shopping cart |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004007266A1 (en) * | 2002-07-15 | 2004-01-22 | Stock Of Sweden Ab | An industrial truck |
WO2004007262A1 (en) * | 2002-07-15 | 2004-01-22 | Stock Of Sweden Ab | A vehicle and a method for controlling steering thereof |
US7384233B2 (en) | 2002-07-15 | 2008-06-10 | Stock Of Sweden Ab | Industrial truck |
US7689336B2 (en) | 2002-07-15 | 2010-03-30 | Stock Of Sweden Ab | Vehicle and a method for controlling steering thereof |
DE102004020932A1 (en) * | 2004-04-28 | 2005-12-01 | Zoltan Soltesz | Chassis for land vehicle, has inclined axle arranged in wheels whose axes of rotation includes hitch angle of preset degree, where each wheel has shaft that is twistable around vertical steering axle relative to frame of vehicle |
WO2007073308A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangement |
WO2007073306A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangement |
WO2007073307A1 (en) * | 2005-12-23 | 2007-06-28 | Maxmove Industrier Ab | A wheel arrangement and a vehicle comprising such wheel arrangment |
CN102050411A (en) * | 2010-12-30 | 2011-05-11 | 中国科学院长春光学精密机械与物理研究所 | Ground lifting machine for aerial remote sensor |
WO2013166593A1 (en) * | 2012-05-10 | 2013-11-14 | Rideup Mobility Inc. | Mobility transport system and method having a plurality of motorized wheel assemblies |
WO2015134482A1 (en) | 2014-03-03 | 2015-09-11 | Xtreme Manufacturing, Llc | Method and system for a lift device control system |
EP3114075A4 (en) * | 2014-03-03 | 2017-11-01 | Xtreme Manufacturing, LLC | Method and system for a lift device control system |
US10065843B2 (en) | 2014-03-03 | 2018-09-04 | Xtreme Manufacturing, Llc | Method and system for a lift device control system |
CN105672636A (en) * | 2015-11-19 | 2016-06-15 | 中建七局第二建筑有限公司 | Elevating device for indoor construction |
CN108818493A (en) * | 2018-07-16 | 2018-11-16 | 汕头大学 | A kind of compound mobile robot and compound Mobile Robot Control System |
CN110319313A (en) * | 2019-07-05 | 2019-10-11 | 日照职业技术学院 | A kind of construction survey elevation and subsidence regulating device |
CN113879046A (en) * | 2021-11-28 | 2022-01-04 | 中国船舶重工集团公司第七一三研究所 | Steering axle suitable for omnidirectional vehicle |
CN114103550A (en) * | 2021-11-28 | 2022-03-01 | 中国船舶重工集团公司第七一三研究所 | Steering drive wheel train suitable for omnidirectional vehicle |
CN113879046B (en) * | 2021-11-28 | 2024-04-23 | 中国船舶重工集团公司第七一三研究所 | Steering axle suitable for omnidirectional vehicle |
Also Published As
Publication number | Publication date |
---|---|
EP1071602A1 (en) | 2001-01-31 |
SE9801330D0 (en) | 1998-04-17 |
AU4066799A (en) | 1999-11-08 |
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