SE515799C2

SE515799C2 - Vehicle wheel assembly

Info

Publication number: SE515799C2
Application number: SE0002381A
Authority: SE
Inventors: Bengt Ilon
Original assignee: L & B Ltd
Priority date: 2000-06-26
Filing date: 2000-06-26
Publication date: 2001-10-08
Also published as: AU2001274736A1; SE0002381L; WO2002000489A1; SE0002381D0

Abstract

The present invention relates to a device at vehicle wheels for vehicles which are adapted to be driven in optional directions on an underlayer or ground. The wheels (3-6) of the vehicle (F) are provided in pairs of wheels (FP, BP) such that the axes of rotation (8) of the wheels (3-6), seen from the front in a direction (FF) towards the vehicle (F), are located in planes (P1) which intersect under the wheels (3-6). The wheels (3-6) of the vehicle (F) are also provided freely pivotable in forward and backward directions relative to a main driving direction (HF) of the vehicle (F). The wheels (3-6) of the vehicle (F) are further provided to be locked such that they do not pivot freely, namely in such positions that their axes of rotation (8), seen from the side in a direction (FS) towards the vehicle (F), are situated in planes (P3, P4) which intersect beneath or above the wheels (3-6).

Description

(H nå (H -1 \O \O korsar varandra under hjulen, varigenom hjulen i nämnda hjulpar befinner sig i sådana snedställda lägen i för- hållande till varandra att, sett framifrån i riktning mot fordonet, från varandra vända delar av hjulen har kontakt med underlaget medan mot varandra delar av hju- len befinner sig ovanför underlaget. Varje hjul är an- ordnat att vid körning av fordonet på underlaget kunna svänga fritt kring en horisontell svängningsaxel som är anordnad med rät vinkel i förhållande till huvudfärd- riktningen så att varje hjuls rotationsaxel svänger i nämnda första, med huvudfärdriktningen parallella plan. (H reach \ H -1 \ O \ O cross each other under the wheels, whereby the wheels in said pair of wheels are in such oblique positions in relation to each other that, seen from the front in the direction of the vehicle, parts of the wheels facing each other have contact Each wheel is arranged so that when driving the vehicle on the ground it can swing freely about a horizontal axis of rotation which is arranged at a right angle in relation to the main direction of travel so that each wheel axis of rotation pivots in said first plane parallel to the main direction of travel.

Fordon som har hjulen så anordnade att de kan köras i val- fria riktningar är tidigare kända från skriften WO 98/28158.Vehicles which have the wheels arranged so that they can be driven in any direction are previously known from the publication WO 98/28158.

Hjulen vid dessa fordon är försedda med rullar via vilka de har kontakt med underlaget. Fordon med sådana hjul fungerar mycket tillfredsställande i många fall men det har visat sig att damm, grus, sand eller andra partiklar lätt tränger in till rullarnas lagringsdelar vid körning i miljöer där det finns mycket sådant material. Detta kan leda till att rullarnas lagringsdelar snabbt slits ner och måste bytas.The wheels of these vehicles are equipped with rollers through which they have contact with the ground. Vehicles with such wheels work very satisfactorily in many cases, but it has been found that dust, gravel, sand or other particles easily penetrate into the storage parts of the rollers when driving in environments where there is a lot of such material. This can lead to the bearing parts of the rollers quickly wearing down and having to be replaced.

Syftet med föreliggande uppfinning är att avhjälpa detta problem genom att eliminera behovet av rullar men ändå åstadkomma att fordonet kan köras i valfria riktningar på såväl jämnt som ojämnt underlag. Detta har enligt upp- finningen åstadkommits genom att den inledningsvis be- th .A (H *J \0 ~o skrivna anordningen uppvisar de kännetecken som i huvudsak framgår av efterföljande patentkrav 1.The object of the present invention is to remedy this problem by eliminating the need for rollers but still ensuring that the vehicle can be driven in optional directions on both level and uneven ground. This has been achieved according to the invention in that the device initially described as A (H * J \ 0 ~ o has the features which essentially appear from the following claim 1.

Genom att anordningen enligt uppfinningen uppvisar nämnda kännetecken uppnås att hjulen kan utformas så att de blir väsenligt mindre känsliga än tidigare samtidigt som de medger körning i valfria riktningar pà underlaget antingen detta jämnt eller mycket ojämnt. Hjulen medger således bl.a. att fordonet även kan köras i valfria riktningar i terräng som är svär sàväl vad gäller ojämnheter som vad gäller dess ytbeskaffenhet.Because the device according to the invention has the said characteristics, it is achieved that the wheels can be designed so that they become substantially less sensitive than before, while at the same time allowing driving in optional directions on the ground either evenly or very unevenly. The wheels thus allow i.a. that the vehicle can also be driven in any direction in terrain that is difficult both in terms of unevenness and in terms of its surface condition.

Uppfinningen skall nedan förklaras närmare med hänvisning till bifogade ritningar, pà vilka figur 1 visar schematiskt med en planvy uppifrån underredet av ett fordon med en anordning vid hjul enligt upp- finningen; figur 2 visar underredet enligt figur 1 med en frontvy och hjulen inställda i ett bakàtsvängt läge; figur 3 visar underredet enligt figur 2 med en sidovy och hjulen inställda i toe-in lägen; figur 4 visar underredet enligt figur l med en frontvy och hjulen inställda i ett framàtsvängt läge; (n Û) (H *J \O xD »b- figur 5 visar underredet enligt figur 4 med en sidovy med hjulen inställda toe-out lägen; figur 6 visar underredet enligt figur 4 med ett hjul och en därför avsedd upphängningsanordning; och figur 7 visar underredet enligt figur 1 med en sidovy och en schematiskt visad inställningsanordning.The invention will be explained in more detail below with reference to the accompanying drawings, in which Figure 1 shows schematically with a plan view from above the chassis of a vehicle with a device by wheels according to the invention; figure 2 shows the chassis according to figure 1 with a front view and the wheels set in a rearward-facing position; figure 3 shows the chassis according to figure 2 with a side view and the wheels set in toe-in positions; Figure 4 shows the chassis of Figure 1 with a front view and the wheels set in a forward pivoted position; (n Û) (H * J \ O xD »b - figure 5 shows the chassis according to figure 4 with a side view with the wheels set toe-out positions; figure 6 shows the chassis according to figure 4 with a wheel and a suspension device intended for this purpose; 7 shows the chassis according to figure 1 with a side view and a schematically shown adjusting device.

På ritningarna visas schematiskt ett underrede l till ett fordon F som är avsett att köras i valfria riktningar på ett underlag 2, däribland i en huvudfärdriktning HF framåt eller bakåt, sidoriktningar SF, riktningar snett framåt eller bakåt, roterande riktningar o.s.v.. Med körning av fordonet i valfria riktningar menas i detta fall att man kan köra fordonet i valfria riktningar utan att behöva vrida hjulen på traditionellt vis.The drawings schematically show a chassis 1 for a vehicle F which is intended to be driven in optional directions on a surface 2, including in a main direction HF forwards or backwards, side directions SF, directions obliquely forwards or backwards, rotating directions, etc. With driving of the vehicle in optional directions in this case means that you can drive the vehicle in optional directions without having to turn the wheels in the traditional way.

Underredet l uppvisar två hjul 3, 4 anordnade i ett främre hjulpar FP och två hjul 5, 6 anordnade i ett bakre hjulpar BP. Till varje hjul 3, 4, 5 och 6 är tillordnad en driv- motor 7, företrädesvis en elektromotor, för att driva hjulen individuellt i såväl medurs som moturs riktningar för att förflytta fordonet F i önskad riktning.The chassis 1 has two wheels 3, 4 arranged in a front wheel pair FP and two wheels 5, 6 arranged in a rear wheel pair BP. Assigned to each wheel 3, 4, 5 and 6 is a drive motor 7, preferably an electric motor, for driving the wheels individually in both clockwise and counterclockwise directions to move the vehicle F in the desired direction.

Varje hjul 3, 4, 5 och 6 är roterbart kring en rotations- axel 8 och det är så anordnat att dess rotationsaxel 8, sett framifrån i riktning FF mot fordonet F, befinner sig th cå (n ~à| \0 \D i ett första med fordonets F huvudfärdriktning HF paral- lellt plan Pl, vars vinkel a med ett andra med huvudfärd- riktningen HF parallellt vertikalplan VPl ligger inom intervallet 2-45°, företrädesvis 5-25°. De två hjulen 3, 4 resp. 5, 6 i varje hjulpar FP resp. BP är så anordnade att deras rotationsaxlar 8 befinner sig i första plan Pl som, sett framifrån i riktning FF mot fordonet F, korsar varandra i en punkt PU under hjulen 3-6. Härigenom kommer hjulen 3, 4 resp. 5, 6 i nämnda hjulpar FP resp.Each wheel 3, 4, 5 and 6 is rotatable about an axis of rotation 8 and it is arranged so that its axis of rotation 8, seen from the front in the direction FF towards the vehicle F, is th cå (n ~ à | \ 0 \ D i a first with the main direction of travel HF parallel to the vehicle F1 parallel to the plane P1, the angle α of which with a second vertical plane VP1 parallel to the direction of travel with the main direction HF is in the range 2-45 °, preferably 5-25 °. , 6 in each pair of wheels FP and BP, respectively, are arranged so that their axes of rotation 8 are in the first plane P1 which, seen from the front in the direction FF towards the vehicle F, cross each other at a point PU below the wheels 3-6. 4 and 5, 6, respectively, in the said pair of wheels FP resp.

BP att befinna sig i sådana snedställda lägen i för- hållande till varandra att, sett framifrån i riktning FF mot fordonet F, från varandra vända delar 3a, 4a resp. 5a, 6a av hjulen 3, 4 resp. 5, 6, har kontakt med under- laget 2 medan mot varandra vända delar 3b, 4b resp. Sb, 6b av hjulen 3, 4 resp. 5, 6 befinner sig ovanför underlaget 2.BP to be in such oblique positions in relation to each other that, seen from the front in the direction FF towards the vehicle F, parts 3a, 4a resp. 5a, 6a of the wheels 3, 4 resp. 5, 6, have contact with the base 2 while facing parts 3b, 4b resp. Sb, 6b of wheels 3, 4 resp. 5, 6 is located above the substrate 2.

Dessa lägen på hjulen 3-6 framgår tydligt av figur 2.These positions on wheels 3-6 are clearly shown in Figure 2.

Varje hjul 3-6 är anordnat att vid körning av fordonet F på underlaget 2 kunna svänga fritt kring en horisontell svängningsaxel 9 som är anordnad med rät vinkel i för- hållande till huvudfärdriktningen HF så att varje hjuls 3-6 rotationsaxel 8 svänger i nämnda första, med huvud- färdriktningen HF parallella plan Pl.Each wheel 3-6 is arranged so that when driving the vehicle F on the ground 2 can turn freely about a horizontal pivot axis 9 which is arranged at a right angle in relation to the main direction of travel HF so that the axis of rotation 8 of each wheel 3-6 pivots in said first , with the main direction of travel HF parallel plane Pl.

Varje hjul 3-6 är anordnat att kunna låsas så att det vid körning av fordonet F på underlaget 2 inte kan svänga fritt kring nämnda svängningsaxel 9 utan bibehålla vissa önskade Ch :få (H ~<| \O \O lägen i förhàllande till denna. Hjulen 3-6 kan alternativt vara låsbara parvis.Each wheel 3-6 is arranged to be able to be locked so that when driving the vehicle F on the ground 2 it can not turn freely about said pivot axis 9 but maintain certain desired Ch: few (H ~ <| \ O \ O positions in relation to this Wheels 3-6 may alternatively be lockable in pairs.

Fràn sidan i riktning FS mot fordonet sett kan hjulen 3-6 vara làsbara sä att hjulen 3-6 intar toe in eller toe out lägen. Dä hjulen 3-6 är lästa i toe in lägen korsar tvà plan P3, P4, i vilka rotationsaxlarna 8 för hjulen 3, 5 eller 4, 6 i nämnda hjulpar FP eller BP ligger, sett fràn sidan i riktning FS mot fordonet F, varandra under hjulen 3, 6 i en punkt PUl, varvid fràn varandra vända delar 3c, 4 c, 5c, 6c av nämnda hjul 3, 5 och 4, 6 i nämnda hjulpar FP och BP har kontakt med underlaget 2 men inte mot varandra vända delar 3d, 4d, 5d, 6d av nämnda hjul 3, 5 och 4, 6, (se figur 3).From the side in the direction FS towards the vehicle, wheels 3-6 can be lockable so that wheels 3-6 assume toe in or toe out positions. When the wheels 3-6 are read in toe in positions, two planes P3, P4, in which the axes of rotation 8 of the wheels 3, 5 or 4, 6 in said pair of wheels FP or BP lie, seen from the side in the direction FS towards the vehicle F, intersect under the wheels 3, 6 at a point PU1, wherein mutually facing parts 3c, 4c, 5c, 6c of said wheels 3, 5 and 4, 6 in said wheel pair FP and BP have contact with the base 2 but not facing parts 3d, 4d, 5d, 6d of said wheels 3, 5 and 4, 6, (see figure 3).

Dà hjulen 3-6 är låsta i toe out lägen korsar nämnda tvà plan P3, P4 varandra ovanför hjulen 3-6 i en punkt P01, varvid mot varandra delar 3d, 4d, 5d, 6d av nämnda hjul 3, 5 och 4, 6 har kontakt med underlaget 2 men inte fràn varandra vända delar 3c, 4c, 5c, 6c av nämnda bada hjul 3, 5 och 4, 6 (se figur 4).When the wheels 3-6 are locked in toe out positions, the two planes P3, P4 cross each other above the wheels 3-6 at a point P01, whereby parts 3d, 4d, 5d, 6d of said wheels 3, 5 and 4, 6 face each other. has contact with the base 2 but not facing apart parts 3c, 4c, 5c, 6c of said two wheels 3, 5 and 4, 6 (see figure 4).

Varje hjul 3-6 kan vara anordnat att kunna svänga fritt inom en svängningssektor i riktning framåt och bakàt i för- hållande till ett vertikalplan VP2 i vilket den horisontella svängningsaxeln 9 ligger.Each wheel 3-6 can be arranged to be able to pivot freely within a pivoting sector in the direction forwards and backwards in relation to a vertical plane VP2 in which the horizontal pivot axis 9 lies.

Svängningssektorn kan uppvisa en vinkel ß pá maximalt cirka 300, företrädesvis maximalt 200, och varje hjul 3-6 G1 -ê 01 \â u) v). kan svänga lika långt eller ungefär lika långt framåt som bakåt i förhållande till vertikalplanet VP2.The pivoting sector may have an angle ß of a maximum of about 300, preferably a maximum of 200, and each wheel 3-6 G1 -ê 01 \ â u) v). can swing as far or about as far forward as backward in relation to the vertical plane VP2.

Hjulen 3-6 kan vara låsbara i sådana toe in lägen att av- ståndet A mellan deras kontaktställen med underlaget 2 är som störst.Wheels 3-6 can be lockable in such toe positions that the distance A between their contact points with the ground 2 is greatest.

Hjulen 3-6 kan företrädesvis vara anordnade att svänga fritt kring de horisontella svängningsaxlarna 9 vid körning av fordonet i huvudfärdriktningarna HF och andra riktningar med undantag av sidofärdriktningar SF i förhållande till huvudfärdriktningen HF. Hjulen 3-6 och/eller hjulparen FP, BP kan dessutom vara så anordnade att de låses vid körning av fordonet F i nämnda sidofärdriktningar SF eller i huvud- sak i dessa så att de därvid inte svänger kring de horison- tella svängningsaxlarna 9.Wheels 3-6 may preferably be arranged to pivot freely about the horizontal pivot axes 9 when driving the vehicle in the main travel directions HF and other directions with the exception of side travel directions SF in relation to the main travel direction HF. The wheels 3-6 and / or the pair of wheels FP, BP can in addition be arranged so that they are locked when driving the vehicle F in said lateral directions SF or substantially in these so that they do not pivot about the horizontal pivot axes 9.

Hjulen 3-6 är företrädesvis låsbara så att de inte svänger kring de horisontella svängningsaxlarna 9 då fordonet F vid körning ändrar färdriktningen från huvudfärdriktningar HF och andra från sidofärdriktningar SF skilda färdriktningar till sidofärdriktningar SF. Hjulen 3-6 är företrädesvis fri- görbara så att de svänger kring de horisontella svängnings- axlarna 9 då fordonet F ändrar färdriktning från sidofärd- riktningar SF till andra färdriktningar.The wheels 3-6 are preferably lockable so that they do not turn about the horizontal pivot axes 9 when the vehicle F when driving changes the direction of travel from main directions of travel HF and other directions of travel different from side directions SF to side directions SF. Wheels 3-6 are preferably releasable so that they pivot about the horizontal pivot axes 9 when the vehicle F changes direction of travel from lateral directions SF to other directions of travel.

Hjulen 3-6 är företrädesvis anordnade att låsas under på- gående körning så att de därefter inte svänger fritt, de I* LH *J \D \D CX) kan vara anordnade att läsas i bestämda eller valfria lägen under pàgàende körning och de kan vara individuellt sväng- och/eller làsbara. Dessutom kan hjulen 3-6 vara anordnade att frigöras fràn lästa lägen under körning sà att de där- efter kan svänga fritt.Wheels 3-6 are preferably arranged to be locked during driving so that they do not turn freely thereafter, they may be arranged to be locked in fixed or optional positions during driving and they may be individually pivotable and / or lockable. In addition, the wheels 3-6 can be arranged to be released from read positions while driving so that they can then turn freely.

En i figur l schematiskt visad hjulinställningsanordning 10 kan vara anordnad pà underredet 2 för att svänga hjulen 3-6 kring svängningsaxlarna 9 tills hjulen 3-6 är inställda i valda toe in eller toe out lägen. Hjulinställningsanord- ningen l0 kan också vara anordnad att läsa hjulen 3-6 i nämnda valda toe in eller toe out lägen och att frige hju- len 3-6 ur dessa när sä önskas. Hjulinställningsanordningen 10 kan företrädesvis utföra nämnda funktioner under kör- ning av fordonet F.A wheel adjusting device 10 schematically shown in figure 1 can be arranged on the chassis 2 for pivoting the wheels 3-6 about the pivot axes 9 until the wheels 3-6 are set in selected toe in or toe out positions. The wheel adjusting device 10 may also be arranged to read the wheels 3-6 in said selected toe in or toe out positions and to release the wheels 3-6 from these when desired. The wheel adjusting device 10 can preferably perform said functions while driving the vehicle F.

Den i figur 1 visade hjulinställningsanordningen l0 kan bestà av fyra eller ett annat antal enheter. Varje sådan enhet kan vara tillordnad ett hjul 3, 4, 5 eller 6 och den kan styras pà elektronisk väg av en central styranordning ll, vilken i sin tur styrs av fordonets F förare eller operatör.The wheel adjusting device 10 shown in Figure 1 may consist of four or another number of units. Each such unit can be assigned to a wheel 3, 4, 5 or 6 and it can be controlled electronically by a central control device 11, which in turn is controlled by the driver or operator of the vehicle F.

Varje enhet i hjulinställningsanordningen 10 kan uppvisa en snäppanordning (ej visad) vilken kan snäppa fast hjulen 3-6 dà hjulen 3-6 intar sina toe in eller toe out lägen och vilken också kan frige hjulen 3-6 ur dessa lägen.Each unit in the wheel adjusting device 10 may have a snap device (not shown) which can snap the wheels 3-6 when the wheels 3-6 assume their toe in or toe out positions and which can also release the wheels 3-6 from these positions.

Hjulinställningsanordningen kan vara utformad pà mànga olika sätt och en annan typ av en sådan framgår av figur 7. (n _J- tm *J \D xâ Den sistnämnda hjulinställningsanordningen 12 samverkar med två närliggande hjulpar FP, BP för samtidig inställning av hjulen 3-6 i nämnda toe in eller toe out lägen.The wheel adjusting device can be designed in many different ways and another type of one is shown in Figure 7. (n _J- tm * J \ D xâ The latter wheel adjusting device 12 cooperates with two adjacent wheel pairs FP, BP for simultaneous adjustment of the wheels 3-6 in said toe in or toe out positions.

Den sistnämnda hjulinställningsanordningen 12 uppvisar ett inställningsorgan 13 som är vridbart t.ex. kring en hori- sontell vridningsaxel 14 som är anordnad med rät vinkel i förhållande till fordonets huvudfärdriktning HF. Inställ- ningsorganet 13 samverkar exempelvis via åtminstone ett första rörelseöverföringsorgan 15 med det ena hjulparet FP och exempelvis med åtminstone ett andra rörelseöverförings- organ 16 med det andra hjulparet BP så att när inställnings- organet 13 vrids kring nämnda vridningsaxel 14 vrids hju- len 3, 5 resp. 4, 6 i de närliggande hjulparen FP, BP i motsatta riktningar till sina toe in eller toe out lägen.The latter wheel adjusting device 12 has an adjusting member 13 which is rotatable e.g. around a horizontal axis of rotation 14 which is arranged at a right angle in relation to the main direction of travel HF of the vehicle. The adjusting means 13 cooperates, for example, via at least a first movement transmission means 15 with one pair of wheels FP and for example with at least a second movement transmission means 16 with the second pair of wheels BP so that when the adjusting means 13 is rotated about said axis of rotation 14, the wheel 3 is rotated. 5 resp. 4, 6 in the adjacent wheel pairs FP, BP in opposite directions to their toe in or toe out positions.

Rörelseöverföringsorganen 15, 16 kan vara wirar, stag eller motsvarande och de kan anordnas så att de samtidigt svänger ett hjul 3, 5 eller 4, 6 i varje hjulpar FP, BP istället för båda hjulen 3, 4 och 5, 6 i varje hjulpar FP, BP.The movement transmission means 15, 16 can be wires, struts or the like and they can be arranged so that they simultaneously rotate a wheel 3, 5 or 4, 6 in each wheel pair FP, BP instead of both wheels 3, 4 and 5, 6 in each wheel pair FP , BP.

Rörelseöverföringsorganen 15, 16 kan företrädesvis vara anslutna till sådana delar av hjulparen FP, BP som, från sidan i riktning FS mot fordonet F sett, befinner sig an- tingen på insidan eller utsidan om nämnda vertikalplan VP2.The motion transmission means 15, 16 may preferably be connected to such parts of the wheel pairs FP, BP which, seen from the side in the direction FS towards the vehicle F, are located either on the inside or outside of said vertical plane VP2.

Varje hjul 3-6 anligger mot underlaget med sådana nedåt- riktade delar 17 som är centrerade med och roterar kring rotationsaxeln 8. De partier 18 av de nedåtriktade de- GH nå.Each wheel 3-6 abuts against the ground with such downwardly directed parts 17 which are centered with and rotate about the axis of rotation 8. The portions 18 of the downwardly directed parts reach.

LH ~a \D si) larna l7 via vilka hjulet 3-6 skall ligga an mot under- laget 2, ligger i ett plan som sträcker sig med rät vinkel i förhållande till rotationsaxeln 8. Nämnda nedåtriktade delar 17 av varje hjul 3-6 kan vara utformade som ringfor- made däck som kan vara massiva eller pneumatiska. Däcken kan också uppvisa mönstrade slitbanor.The cylinders 17 via which the wheel 3-6 is to abut against the base 2 lie in a plane extending at right angles to the axis of rotation 8. Said downwardly directed parts 17 of each wheel 3-6 can be designed as annular tires that can be solid or pneumatic. The tires can also have patterned treads.

Hjulen 3-6 kan vara upphängda på underredet 2 via olika typer av upphängningsanordningar. Ett exempel på en sådan visas i figur 6 och denna består av en gaffel 19 som är svängbart upphängd på svängningsaxeln 9. Gaffeln 19 har nedtill en hållare 20 för hjulet 3-6 och på denna hållare 20 kan också drivmotorn 7 vara anordnad.Wheels 3-6 can be suspended on the chassis 2 via different types of suspension devices. An example of such is shown in figure 6 and this consists of a fork 19 which is pivotally suspended on the pivot shaft 9. The fork 19 has at the bottom a holder 20 for the wheel 3-6 and on this holder 20 the drive motor 7 can also be arranged.

Underredet l kan vara uppdelat i två bredvid varandra an- ordnade underredsdelar la och lb. Vid ett sådant utförande av underredet l är det ena hjulet 3 på det ena hjulparet FP och det ena hjulet 5 på det andra hjulparet BP an- ordnade på den ena underredsdelen la. Det andra hjulet 4 på det ena hjulparet FP och det andra hjulet 6 på det andra hjulparet BP är anordnade på den andra underredsdelen lb.The chassis 1 can be divided into two chassis parts 1a and 1b arranged next to each other. In such an embodiment of the chassis 1, one wheel 3 on one pair of wheels FP and one wheel 5 on the other pair of wheels BP are arranged on one chassis part 1a. The second wheel 4 on one pair of wheels FP and the other wheel 6 on the second pair of wheels BP are arranged on the second chassis part 1b.

Underredsdelarna la, lb är svängbart förbundna med varandra via en horisontell svängningsaxel 2l som är anordnad mellan hjulparen FP, BP och som bildar en rät vinkel med vertikal- planet VPl.The chassis parts 1a, 1b are pivotally connected to each other via a horizontal pivot axis 21 which is arranged between the wheel pairs FP, BP and which forms a right angle with the vertical plane VP1.

Det kan också nämnas att hjulen 3-6 kan vara anordnade på schematiskt visade stödorgan 22 som är förlängbara så att (H ...å çn ~a \O xD ll. hjulen 3-6 flyttas i riktning fràn varandra, varigenom av- stànden mellan hjulen 3-6 kan ökas. Stödorganen 22 kan vara teleskopiska och de kan vara sä anordnade att hjulen i för- hållande till underredet l flyttas i riktning utàt cirka 45° i förhållande till huvudfärdriktningen HF fràn inre lägen till yttre lägen.It may also be mentioned that the wheels 3-6 may be arranged on schematically shown support means 22 which are extendable so that the wheels 3-6 are moved in the direction of each other, whereby the distances between the wheels 3-6 can be increased.The support means 22 can be telescopic and they can be arranged so that the wheels in relation to the chassis 1 are moved in a direction outwards of about 45 ° in relation to the main direction of travel HF from inner positions to outer positions.

Det kan avslutningsvis nämnas att de ovan nämnda vinkel- bestämningarna kan variera inom intervallet l-4° utan att de eftersträvade konstruktionerna gàr förlorade.In conclusion, it can be mentioned that the above-mentioned angular determinations can vary within the range 1-4 ° without the desired constructions being lost.

Anordningen enligt uppfinningen är inte begränsad till ovan beskrivna och pà ritningarna visade utföranden utan den kan variera inom ramen för efterföljande patentkrav vad gäller dess funktion och konstruktion. Som exempel pà varianter kan nämnas att underredet l kan uppvisa mer än tvà hjulpar och underredet l, hjulen 3-6 samt därtill hörande delar kan vara av andra konstruktioner än de visade.The device according to the invention is not limited to the embodiments described above and shown in the drawings, but it may vary within the scope of the appended claims as to its function and construction. As examples of variants, it can be mentioned that the chassis 1 can have more than two pairs of wheels and the chassis 1, the wheels 3-6 and associated parts can be of other constructions than those shown.

Claims

(n -A (n w \ O \ O Patent claim: II II II II II II II II II II

1. Device for vehicle wheels for vehicles intended to be driven in any direction on a surface, including a main forward direction, the vehicle (F) having at least two pairs of wheels (FP, BP) with two wheels (3, 4 and 4 respectively). 5, 6), the wheels (3, 4, 5 and 6) being individually drivable to rotate in both clockwise and counterclockwise directions, each wheel (3, 4, 5 and 6) being rotatable about an axis of rotation (8) and being so arranged that its axis of rotation (8), seen from the front in the direction (FF) towards the vehicle (F), is in a first plane (HF) parallel to the main direction of travel (HF) of the vehicle (F), the angle (G) of which ) with a second vertical plane (VP2) parallel to the main direction of travel (HF) is in the range 2-45 °, preferably 5-25 °, the two wheels (3, 4 and 5, 6) in each pair of wheels (FP and BP respectively ) are arranged so that their axes of rotation (8) are in the first plane (P1) which, seen from the front in the direction (FF) towards the vehicle (F), cross each other under the wheels (3, 5), whereby the wheels (3, 4 resp. 5, 6) in the said pair of wheels (FP or BP) are in such oblique positions in relation to each other that, seen from the front in the direction m, there was m ~ ~ o ~ o ning (FF) towards the vehicle (F), facing parts (3a, 4a and 5a, 6a) of the wheels (3, 4 and 5, 6), respectively, have contact with the ground (2) while facing parts (3b, 4b and 5b, 6b) of the wheels, respectively, (3, 4 and 5, 6, respectively) are located above the ground (2), and each wheel (3-6) is arranged so that when driving the vehicle (F) on the ground (2) it can swing freely about a horizontal pivot axis ( 9) which is arranged at right angles to the main travel direction (HF) so that the axis of rotation (8) of each wheel (3-6) pivots in said first plane (P1) parallel to the main travel direction (HF), characterized in that the wheels ( 3-6) are arranged to be readable so that when driving the vehicle (F) on the ground (2) can not turn freely about said pivot axis (9), and that the wheels (3, 5, 4, 6) are lockable in such situations that two planes ( P3, P4) in which the axes of rotation (8) of the wheels (3, 5 and 4, 6) in said pair of wheels (FP and BP) lie, seen from the side in the direction (FS) towards the vehicle (F), cross each other under the wheels ( 3-6), wherein facing parts (3c, 4c, 5c, 6c) of said wheels (3, 5 or 4, 6) in said pair of wheels (FP and BP) have contact with the ground (2) but not facing parts (3d, 4d, 5d, 6d) of said wheels (3, 5 and 4, 6), whereby said wheels (3, 5 and 4, 6), m ﬂ å mw ~ o ~ o seen from the side in direction (FS) towards the vehicle (F), toe in positions, or that the wheels (3, 5, 4, 6) are lockable in such positions that the two planes (P3, P4) cross each other above the wheels (3-6) , said facing parts (3d, 4d, 5d, 6d) of said wheels (3, 5 and 4, 6) having contact with the base (2) but not facing parts (3c, 4c, 5c, 6c) of said wheels (3, 5 and 4, 6), whereby said wheels (3, 5 and 4, 6), seen from the side in direction (FS) towards the vehicle (F), assume toe out positions.

Device according to claim 1, characterized in that each wheel (3-6) is arranged to be able to pivot freely within a pivoting sector in the forward and backward direction relative to a vertical plane (VP2) in which the horizontal pivot axis (9) lies. , that the oscillation sector has an angle (ß) of a maximum of approx. 300, preferably a maximum of 20 °, and that each wheel (3-6) can pivot as far or approximately as far forward as backward relative to the latter vertical plane (VP2). m .à m -1 ~ o ~ o

Device according to claim 1 or 2, characterized in that two wheels (3, 5 and 4, 6) in two adjacent pairs of wheels (FP, BP) are lockable in, seen from the side in the direction (FS) towards the vehicle ( F), such positions that the wheels (3, 5 and 4, 6) occupy toe positions so as to drive the vehicle (F) in a lateral direction (SF) in relation to the main direction of travel (HF) to achieve as great a distance (A) as possible between the contact points with the ground (2) present between the wheels (3, 4) of one pair of wheels (FP) and the wheels (5, 6) of the other pair of wheels (BP).

Device according to any one of the preceding claims, characterized in that the wheels (3-6) are arranged to pivot freely about said horizontal pivot axes (9) when driving the vehicle (F) in the main travel directions (HF) and other directions with the exception of lateral travel directions. (SF) in relation to the main direction of travel (HF), and that the wheels (3-6) and / or the pair of wheels (FP, BP) are arranged to be locked when driving the vehicle (F) in said lateral directions (SF) or substantially in these so that they do not pivot about said horizontal pivot axes (9).

Device according to any one of the preceding claims, characterized in that the wheels (3-6) are lockable so that they do not pivot about said horizontal pivot axes (9) when the vehicle (F) when driving changes direction of travel from main directions of travel (HF) and other different directions of travel to side directions of travel (SF), and that the wheels (3-6) are releasable so that they turn about said horizontal axes of rotation (9) when the vehicle (F) changes direction of travel from lateral directions (SF) to other directions.

Device according to one of the preceding claims, characterized in that the wheels (3-6) are arranged to be locked during driving of the vehicle so that they do not turn freely thereafter.

Device according to one of the preceding claims, characterized in that the wheels (3-6) are arranged to be able to turn individually.

Device according to one of the preceding claims, characterized in that the wheels (3-6) are arranged to be locked in specific or optional positions during pivoting while driving the vehicle (F) so that they do not turn freely thereafter.

Device according to one of the preceding claims, characterized in that the wheels (3-6) are an- (ﬂ -à (H ~ a \ O \ O

10. 17. arranged to be released from loading positions when driving the vehicle (F) so that they can then turn freely. lO. Device according to any one of the preceding claims, characterized in that two adjacent wheels (3, 4) in a pair of wheels (FP) and two adjacent wheels (5, 6) of an adjacent pair of wheels (BP) are arranged to be forcibly steered for that, seen in the direction (FS) from the side towards the vehicle (F), is set in said toe in or toe out positions.

11. ll. Device according to any one of the preceding claims, characterized in that a wheel adjusting device (10) is arranged to pivot the wheels (3-6) about the pivot axes (9) until the wheels (3-6) are set in selected toe in or toe out positions, and that the wheel adjusting device (10) is arranged to lock the wheels (3-6) when driving the vehicle (F) when they occupy their set toe in or toe out positions and to release them from their toe in or toe out positions.

Device according to Claim 11, characterized in that the wheel adjusting device (10) has a snap device which can snap the wheels (3-6) and / or the pair of wheels (FP, BP) when the wheels (3-6) engage their toes. or C ﬂ Üà (H ~ <| \ O \ O toe out positions and which can release the wheels (3-6) and / or the pair of wheels (FP, BP) from these positions.

Device according to one of the preceding claims, characterized by a wheel adjusting device (12) which cooperates with storage parts of the wheels (3, 5 and 4, 6, respectively) for two adjacent pairs of wheels (FP, BP) for simultaneous adjustment of said wheels (3, 5 and 4,6 respectively) in said toe in or toe out positions.

Device according to claim 13, characterized in that the wheel adjusting device (12) has an adjusting means (13) which is rotatable about a horizontal axis of rotation (14) which is arranged at right angles to the main direction of travel of the vehicle (HF). ), and that the adjusting means (13) cooperates with the wheels (3, 4) in at least one pair of wheels (FP) via at least one first motion transmission means (15) and wherein the adjusting means (13) via at least one second motion transmission means (16) cooperates with the wheels (5, 6) in at least the second pair of wheels (BP) so that when the adjusting means (13) is rotated about said axis of rotation (14) the wheels (3, 4 and 5, 6, respectively) are rotated in the adjacent pairs of wheels (FP, BP ) in opposite directions to their toe in or toe out positions. th .A t ﬂ ~ a \ D \ 0 19.

Device according to claim 14, characterized in that the motion transmission means (15, 16) are connected to such parts of the wheel pair (FP, BP) which, seen from the side in the direction (FS) towards the vehicle (F), is located either on the inside or on the outside of such other vertical planes (VP2) in which the horizontal axes (9), around which the wheels (3-6) are rotatable, lie.

Device according to any one of the preceding claims, characterized in that each wheel (3-6) has downwardly directed parts (17) which are centered with the axis of rotation (8) and which are rotatable about it and via which the wheels (3-6) ) abuts against the ground (2).

Device according to claim 16, characterized in that such portions (18) of the downwardly directed parts (17) via which the wheels (3-6) abut against the base (2) lie in a plane extending with right angle to the axis of rotation (8) of the wheel (3-6).

Device according to claim 17, characterized in that the downwardly directed parts of the wheel (3-6) are designed as an annular tire.

Device according to claim 17 or 18, characterized in that the tires are solid. (H -à- tn ~ a \ O \ O

Device according to claim 17 or 18, characterized in that the tires are pneumatic.

Device according to one of Claims 17 to 20, characterized in that the tires have a patterned tread.

Device according to one of the preceding claims, characterized in that the wheels (3, 6) are arranged on a chassis (1) which, seen from the front in the direction (FF) towards the vehicle (F), has a first and a second chassis part ( 1a, 1b), which chassis parts (1a, 1b) lie next to each other, wherein a wheel (3) of a pair of wheels (FP) and a wheel (5) of an adjacent pair of wheels (BP) are arranged on the first chassis part ( 1a) and a second wheel (4) of a pair of wheels (FP) and a second wheel (6) of an adjacent pair of wheels (BP) are arranged on the second chassis part (1b), and that the chassis parts (1a, 1b) are arranged to pivot relative to each other about a horizontal pivot axis (21) which is arranged between the wheel pairs (FP, BP) and which forms a right angle with a vertical plane (VP1) which is parallel to the main direction of travel (HF) of the vehicle (F).

Device according to one of the preceding claims, characterized in that the wheels (3-6) are arranged on a chassis (1) via support means (22) which are extendable so that the distance between the wheels (3-6) increase.

Device according to claim 23, characterized in that the support means (22) are arranged to move the wheels (3-6) from inner to outer positions relative to each other and in about 450 relative to the main direction of travel (HF) .