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WO2003103365A1 - Systeme de direction de roues servantes d'un vehicule - Google Patents

Systeme de direction de roues servantes d'un vehicule Download PDF

Info

Publication number
WO2003103365A1
WO2003103365A1 PCT/US2003/016683 US0316683W WO03103365A1 WO 2003103365 A1 WO2003103365 A1 WO 2003103365A1 US 0316683 W US0316683 W US 0316683W WO 03103365 A1 WO03103365 A1 WO 03103365A1
Authority
WO
WIPO (PCT)
Prior art keywords
dolly wheel
rotation
assembly
dolly
steering
Prior art date
Application number
PCT/US2003/016683
Other languages
English (en)
Inventor
W. Strong Russell
Original Assignee
Integrated Vision, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US10/156,466 external-priority patent/US7159695B2/en
Priority claimed from US10/156,304 external-priority patent/US6668965B2/en
Application filed by Integrated Vision, Inc. filed Critical Integrated Vision, Inc.
Priority to EP03757289A priority Critical patent/EP1539557A4/fr
Priority to AU2003243323A priority patent/AU2003243323A1/en
Publication of WO2003103365A1 publication Critical patent/WO2003103365A1/fr

Links

Classifications

    • 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
    • B62D7/08—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in a single plane transverse to the longitudinal centre line of the vehicle
    • 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
    • B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
    • B60B33/0005—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture characterised by mounting method
    • 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
    • B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
    • B60B33/0015—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture characterised by adaptations made to castor
    • B60B33/0021—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture characterised by adaptations made to castor in the form of a mounting pin
    • 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
    • B60B33/0036—Castors in general; Anti-clogging castors characterised by type of wheels
    • B60B33/0039—Single wheels
    • 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
    • B60B33/0049—Castors in general; Anti-clogging castors characterised by details of the rolling axle the rolling axle being horizontal
    • 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
    • B60B33/0057—Castors in general; Anti-clogging castors characterised by details of the rolling axle the rolling axle being offset from swivel axis
    • 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
    • B60B33/006—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism
    • B60B33/0065—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis
    • B60B33/0068—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis the swivel axis being vertical
    • 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
    • B60B33/006—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism
    • B60B33/0065—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis
    • B60B33/0073—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism characterised by details of the swivel axis the swivel axis being symmetrical to wheel or wheels
    • 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
    • B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
    • B60B33/025—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism by using form-fit, e.g. front teeth
    • 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
    • B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
    • B60B33/026—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism being actuated remotely, e.g. by cable or electrically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • 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
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/003—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels
    • B62K5/007—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels power-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/08—Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
    • B62B2301/04—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors
    • B62B2301/046—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors with means restricting the rotation about that axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
    • B62B2301/04—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors
    • B62B2301/046—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors with means restricting the rotation about that axis
    • B62B2301/0463—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors with means restricting the rotation about that axis by blocking the rotation at a position

Definitions

  • the present invention relates generally to dolly wheels for use with a vehicle to provide maneuverability that results in what are termed zero turn capabilities. More specifically, the present invention relates to dolly wheels that have a steering control system that allows dolly wheel type response to steering at low speeds and in conditions where such dolly wheel effect is advantageous and precise directional control steering of the dolly wheels at high speeds and in conditions of variable traction of the vehicle and terrain as is also advantageous.
  • a steering control system that allows dolly wheel type response to steering at low speeds and in conditions where such dolly wheel effect is advantageous and precise directional control steering of the dolly wheels at high speeds and in conditions of variable traction of the vehicle and terrain as is also advantageous.
  • Dolly wheels are commonly used on vehicles or other devices which operate at low speeds (0 - 10 m.p.h.). However, when the speed of the vehicle increases, such as to 15 m.p.h. or greater, current dolly wheels can become unstable and oscillate or shimmy.
  • the oscillation or shimmying is a phenomenon characterized by the vibration or rotation of the dolly wheel about its axis. The oscillation or shimmying is caused in part by offset load impacts on the wheels, such as can occur when the side of the dolly wheel surface that engages the road contacts resistance, stones or bumps, which cause the wheel to rotate and then recenter when the trailing dolly effect again becomes the controlling directional force on the wheel. In rapidly recentering, the wheel typically goes past center and then must recenter back again. The rapid effect of this phenomenon sets up an ongoing shimmy or oscillation which is disruptive to the smooth operation of the vehicle.
  • this zero turn capability about the driven axis can cause instability when the vehicle encounters rough terrain with the free rotating dolly wheels providing no directional stability, which can result in loss of directional control.
  • the dolly wheels respond to the unequal speeds of the drive wheels, undesired vehicle rotation and hence turning can result, such as when one drive wheel experiences slippage due to lack of traction or when the vehicle is driving along a side hill where the tires see unequal weight and thus unequal traction, or a side hill where the vehicle weight over the dolly wheel wants to pull that end downhill, whereas a steered tire would hold the desired vehicle path.
  • the dolly wheels are required to have complete freedom to follow the drive wheel turn requirements.
  • a dual mode dolly wheel steering system includes a dolly wheel, a dolly wheel spindle assembly in communication with the dolly wheel, such that the dolly wheel and the dolly wheel spindle are fixedly secured to one another and are rotatable as a single unit.
  • the dolly wheel spindle is in communication with a dampening and/or coupling device and a steering control system.
  • the steering control system and the dampening device are each in communication with a controller to regulate actuation of each.
  • the dampening and/or coupling device applies a restraining force to the dolly wheel spindle to limit rotation of the dolly wheel.
  • the steering control system can effectuate direct steering control of the dolly wheels to provide precise directional control.
  • dolly wheel position sensors that detect the position of the wheel relative to the vehicle axis of travel and the orientation requested by the steering input can define movement of the dolly wheel to effectuate desired controlled steering.
  • the restraining force applied to the dolly wheel spindle by the dampening device is relieved and the steering control system is overridden.
  • the dampening device may be comprised of an electroviscous fluid in combination with the corresponding contours of the spindle shaft and surrounding chamber, which is in communication with the controller to result in a varying resistance to restrict motion of the dolly wheel.
  • the dampening device may be comprised of an electric motor, a hydraulic pump/motor, or a mechanical detente system each of which is in communication with the controller to result in a resistance to restrict motion of the dolly wheel.
  • the steering control system may be comprised of a hydraulic, electric, pneumatic, or mechanical powered steering input which is in communication with the controller to provide the ability for corrective steering when demanded or for corrective steering in the forward speed vehicle operation.
  • Figure 1 is a top view of a dual mode dolly wheel steering system in accordance with a preferred embodiment of the present invention
  • Figure 2 is a partial cross-sectional side view of a dual mode dolly wheel steering system in accordance with a preferred embodiment of the present invention
  • Figure 3 is a cross-sectional view of a dampening device for a dual mode dolly wheel steering system in the direction of the arrows 3-3 in Figure 4;
  • Figure 4 is a partial cross-sectional side view of a dual mode dolly wheel steering system in accordance with another preferred embodiment of the present invention
  • Figure 5 is perspective view of a dual mode dolly wheel steering system in accordance with still another preferred embodiment of the present invention
  • Figure 6 is a top view of the dual mode dolly wheel steering system in the direction of the arrows 6-6 in Figure 5 with parts removed for purposes of clarity;
  • Figure 7 is partial cross-sectional side view of the dual mode dolly wheel steering system in the direction of the arrows 7-7 in Figure 5;
  • Figure 8 is a partial cross-sectional side view of a dual mode dolly wheel steering system in accordance with still another preferred embodiment of the present invention.
  • Figure 9 is a partial cross-sectional side view of a dual mode dolly wheel steering system in accordance with yet another preferred embodiment of the present invention.
  • Figure 10 is a perspective view of a mobility vehicle utilizing a dolly wheel system in accordance with a preferred embodiment of the present invention. Detailed Description Of The Preferred Embodiment
  • the dolly wheel assembly 10 includes a dolly wheel 12, a dolly wheel mounting member 14 with a dolly wheel spindle 18 attached thereon, and a support member 16 for the complete dolly wheel assembly 10.
  • the dolly wheel 12 is preferably a free rotating wheel that is capable of rotating or swiveling 360 degrees with respect to an axis 20 defined by the dolly wheel spindle 18.
  • the free rotating capability allows the dolly wheel to turn quickly and to be turned to a variety of different positions.
  • a pair of dolly wheel assemblies 10 are mounted to a front of a vehicle or other structure, as shown illustratively in Figure 10. By utilizing dolly wheels for this application, this allows the vehicle to have advantageous maneuverability, referred to by those skilled in the art as zero turn steering capability.
  • the dolly wheel mounting member 14 includes a pair of downwardly extending flange portions 22 and may include an upper portion 24.
  • the dolly wheel 12 is secured to the dolly wheel mounting member 14 by a shaft 21 that passes through each of the flange portions 22 and the center of the dolly wheel 12.
  • the dolly wheel 12 is secured to the dolly wheel mounting member 14 by the shaft 21 such that the dolly wheel 12 can freely rotate radially in either a forward or rearward direction.
  • a pair of flange portions 22 are preferably utilized to secure the dolly wheel 12, it will be understood that only a single flange portion may also be utilized with the shaft 21 rigidly projected off of it to effectuate the axle.
  • the mounting member 14 and the flange portions 22 can take on a variety of other configurations.
  • the dolly wheel spindle 18 is preferably secured to the upper portion 24 of the dolly wheel mounting member 14. Thus, as the dolly wheel 12 rotates with respect to the axis 20, the dolly wheel spindle 18 similarly rotates.
  • the dolly wheel spindle 18 is rotationally secured through a bearing device 30 to the support member 16 at an outer end 26, such that the dolly wheel spindle 18 and the associated dolly wheel 12 can rotate in an axial direction with respect thereto.
  • the support member 16 has an inner end 28 that is secured to a suspension system of a vehicle or other vehicle frame structure.
  • the dolly wheel spindle 18 while supported by the bearing device 30 is preferably in communication with a dual mode steering system 32 for a dolly wheel 12 to provide both conventional dolly wheel capabilities and precise directional control as desired.
  • the dual mode steering system 32 also includes a coupling device 34, which can regulate the free rotation of the pivot axis.
  • the coupling device 34 can work on demand through a controller 36 to partially or fully dampen or clamp the dolly wheel spindle 18 for system stability as required by the systems signal related the vehicle speed and variabilities of traction or terrain.
  • the coupling or dampening device can be utilized at high speeds to prevent oscillation or shimmying or can be utilized when the steering controls are within a certain predetermined range, as will be understood by one of skill in the art.
  • the coupling illustrated generally by reference number 34 can be achieved by a mechanical, hydraulic, electrohydraulic or electrically actuated detente system, a viscous dampener, or a dampener device of hydraulic or electrical means that provides varying resistance of the dolly wheel spindle 18 to rotation about the axis 20.
  • a mechanical, hydraulic, electrohydraulic or electrically actuated detente system a viscous dampener, or a dampener device of hydraulic or electrical means that provides varying resistance of the dolly wheel spindle 18 to rotation about the axis 20.
  • Various embodiments of the dolly wheel system 10 employing a coupling device are described in detail below with reference to the drawings.
  • the coupling device can also act as a dampening device to provide varying degrees of restrictive force as is described in more detail in co-pending U.S
  • the coupling device can apply a locking force to prevent rotation of the dolly wheel 12.
  • the dual mode steering system 32 also includes steering controls 38 that are in communication with either direct manual control or the controller 36, which enables an actuator to provide precise directional control over the dolly wheel 12.
  • the coupling device is an electric actuated mechanical brake 40 that upon receiving a signal from the controller 36 applies a braking force to a disc 42 which is fixedly secured to the dolly wheel spindle 18. This braking force thus prevents the dolly wheel spindle 18 from rotating and thus the dolly wheel 12 from freely rotating about the axis 20.
  • the steering controls 38 can be utilized to effectuate direct control over the movement of the dolly wheel 12.
  • the dolly wheel 12 can be steered by a conventional tie rod 44, which is secured at one end to the dolly wheel spindle housing 46 by a securing means 47, such as a ball joint end or the like.
  • a securing means 47 such as a ball joint end or the like.
  • movement of the tie rod 44 would cause the dolly wheel spindle housing 46 to rotate about a king pin 48.
  • the king pin 48 is intended to rotate around the pivot axis 50 to effectuate steering of the dolly wheel 12.
  • the pivot axis 50 is separate and removed from the rotational axis 20 of the dolly wheel.
  • the axis 50 may have caster and chamber angles independent of the axis 20 utilized by the dolly wheel operating in the free mode.
  • the tie rod 44 may also be a hydraulic cylinder, an electric actuator, or other control means.
  • FIGS 3 and 4 illustrate another embodiment of a dual mode dolly wheel steering system 32 in accordance with the present invention.
  • the dual mode system 32 includes a coupling device 34, which is preferably secured relative to the dolly wheel support member 16.
  • the coupling device 34 is located in its own coupler housing 52 that is disposed above the dolly wheel spindle housing 46.
  • the coupler housing 52 has a cylindrical post 54 disposed therein which is secured to the dolly wheel spindle 18.
  • the dolly wheel spindle 18 is located in the dolly wheel spindle housing 46 and is secured to the upper portion 24.
  • the dolly wheel spindle 18 is supported on a bearing assembly 56 including a pair of bearings 58 that allows it to rotate.
  • the outer surface 60 of the cylindrical post 54 includes a plurality of radial ribs 62 formed thereon and which extend generally outwardly. While radial ribs 62 are preferably utilized, a variety of other protruding structures or surface contours may be utilized.
  • a chamber 64 is defined between the outer surface 60 of the cylindrical post 54 and an inner surface 66 of the coupler housing 52.
  • the inner surface 66 of the coupler housing 52 also preferably has a plurality of radial grooves 68 formed therein. While radial grooves 68 are preferably utilized, a variety of other structures or surface contours may also be utilized.
  • the coupling device 34 is also in communication with a controller 36, which controls the application of the current to excite the viscous fluid medium 70, such as through a current contact 72.
  • an electrically excited viscous fluid medium 70 is located within the chamber 64.
  • the viscous fluid medium is referred to by those skilled in the art, as magnetorheological (MR) fluid technology that when excited at times and in magnitude determined by the controller 36, by an electrical current, increases the effective viscosity of the fluid.
  • MR magnetorheological
  • other fluids of similar characteristics may be utilized.
  • current is applied to the chamber 64 to excite the fluid medium 70 as regulated by the controller 36, such as from a current source located within the vehicle, the fluid medium 70 becomes more viscous up to and including a semi-solid state.
  • the coupling device 34 prevents the dolly wheel 12 from rotating about the axis 20. Since the dolly wheel spindle 18 is restrained by the motor 74, rotation of the dolly wheel 12 is restricted, and the system thus reduces undesired oscillation or rotation.
  • the dampening device 34 is preferably on demand such that it can fully clamp or variably dampen the dolly wheel 12 as desired by an operator or as automatically controlled to respond to requirements for certain speed, traction, and terrain conditions. It is understood that the requirements could be directed by sensing devices on the vehicle, which can sense factors indicative of the requirements and input these signals to the controller 36.
  • the vehicle can include an electronic speed sensor in communication with the drive system. When the sensor senses that the vehicle speed is rising above a certain level, a signal will be sent for electronic proportional actuation of the dampening device to apply a restricting force to the rotation of the dolly wheel spindle 18.
  • a full clamping force could be applied.
  • feedback to the system is preferably provided such that the amount of viscous dampening force being applied can also be sensed by an electronic sensor and provided in communication with the controller 36.
  • Each of the dolly wheels 12 of a vehicle can be clamped individually or collectively.
  • Some other examples of when the disclosed system can be utilized include for parking a vehicle on a hillside, maneuvering on a hillside, maneuvering in tight locations, or operating in conditions of lessened control or drive wheel slippage.
  • the coupling device 34 can be actuated directly.
  • a principal benefit of the disclosed system is that the coupling device 34 can automatically and accurately engage in a desired relationship for vehicle travel stability.
  • another benefit is that the dampened steering at higher speeds reduces the likelihood of vehicle turning occurring at an unsafe rate.
  • the controller 36 could be designed to provide two or more modes of control with differing dolly wheel dampening relationships to accommodate an operator's desires related to vehicle use based on speed, terrain demands, style of driving, and traction conditions.
  • the dual mode steering system 32 also includes a motor 74, which is utilized in connection with the coupling device 34.
  • the motor 74 can be utilized to turn steer the dolly wheel 12.
  • the motor 74 which can be either hydraulic, electric, or mechanical, is secured to the support arm 16 by one or more securing means 76.
  • the motor 74 is in communication with a pinion gear 78, which meshes with and drives a gear 80.
  • the gear 80 is in communication with the cylindrical post 54 through coupling housing 82 and its locked coupling relative to the cylindrical post 54 to allow the dolly wheel 12 to be steered by an operator as desired when the coupling device 34 is in a locked mode position.
  • the wheel position sensor 79 senses the relative position of the dolly wheel 12 to that of the axis of vehicle travel and requested steering at that point in time in order to actuate the driving motor 74 and hence bring the dolly wheel 12 to its proper rotational position.
  • FIGS 5 through 7 illustrate another embodiment of a dual mode steering system 32 for use with a dolly wheel assembly 10 in accordance with the present invention.
  • the dual mode steering system 32 includes a coupling device 34, which in this embodiment is a mechanical detente system 81.
  • the mechanical detente system 81 is in communication with the dolly wheel spindle 82 to regulate free rotation about the pivot axis 83.
  • the mechanical detente system 81 can work on demand to partially or fully clamp the dolly wheel spindle 82.
  • the mechanical detente system 81 includes a coupling housing
  • the dolly wheel spindle 82 has a disc 86 fixedly secured to a bottom end 88 thereof such that the disc 86 rotates as the dolly wheel 12 and the dolly wheel spindle 82 rotate.
  • the disc 86 has a notch 90 formed therein.
  • the notch 90 is positioned such that it will receive a detente latch 92 therein when the dolly wheel 12 is oriented in a forward facing position.
  • the notch 90' is oriented as shown in phantom when the dolly wheel 12' is oriented as shown in phantom.
  • the notch 90 is generally "v" shaped with a pair of inwardly sloping surfaces 94 that help pull the detente latch 92 into secure engagement with the disc 86 to prevent rotation of the dolly wheel 12.
  • the detente latch 92 is pivotally disposed at the end of a detente arm 96.
  • the detente arm 96 is rotatably secured an its upper end 98 to the upper pivot 100 of the coupling housing 84.
  • the detente arm 96 is in communication with an actuator 102.
  • the actuator 102 has a linearly reciprocating shaft 104 that moves the detente arm 96 outwardly to disengage the detente latch 92 from the notch 90 and moves the detente arm 96 inwardly and into engagement with the notch 90.
  • the sloping surfaces 94 assist in allowing the detente latch 92 to fully rest in the notch 90.
  • the actuator 102 is in communication with the controller 36 to cause the shaft 104 to reciprocate correspondingly with desired detente actuation relative to vehicle operation.
  • the shaft 104 can be moved to fully lock the dolly wheel 12 with the detente latch 92 in full engagement with the notch 90.
  • the shaft 104 can also be moved to a fully extended position where the detente arm 96 is pivoted about the upper pivot 100 such that the dolly wheel 12 has unrestricted movement, as generally illustrated in phantom.
  • the detente arm 96 is in communication with a spring 106.
  • the spring 106 is an override spring, which can override the actuator 102 and the position of its shaft 104 to cause the detente latch 92 to disengage the notch 90 as desired.
  • the spring 106 can allow override when there is a sudden demand for steering beyond that normal to corrective steering when at high speed, such as steering for sudden obstacle avoidance.
  • the coupling housing 84 also preferably has a pair of guide flanges 108, which are intended to locate the detente latch 92 with respect to the notch 90.
  • the detente arm 96 includes a horizontal bar 110, a pair of generally upwardly extending side supports 112, and a middle bar 114 which is in direct communication with the spring 106.
  • a steering actuator 120 preferably extends between one of the pair of extending side supports 112 and the pivoting detente latch 92.
  • the steering actuator 120 is in electrical communication with the controller 36 through an input, as generally indicated by line 122, when the steering actuator 120 is an electric actuator.
  • input line 122 would denote hydraulic control lines, with flow provided by a system in communication with the controller 36. It is understood that the steering actuator 120 could instead be a mechanical system.
  • the powered steering input 122 may be in communication with an electrical, hydraulic, pneumatic or mechanical source. When the detente latch 92 is engaged, the powered steering input 122, through the communicative source, allows the dolly wheel 12 to be directly controlled to provide precise directional control at high speeds, when traveling on uneven terrain or under other suitable circumstances.
  • the coupling device 34 which differs as is discussed in more detail below, is located in a coupler housing 130.
  • the coupler housing 130 includes a support attachment arm 132, which is secured to the support member 16.
  • the coupler housing 130 is preferably disposed on top of a spindle housing 136.
  • the spindle housing 136 has a dolly wheel spindle 138 located therein.
  • the dolly wheel spindle 138 is secured to the mounting member 14 at a lower end 142 and is in communication with the coupler housing 130 at an upper end 144.
  • the dolly wheel spindle 138 is supported on a bearing assembly 146 including a pair of bearings 148 that allow it to rotate.
  • the coupling device 34 is used for the same purposes described above, namely to restrict movement of the dolly wheel 12 about its axis 20 upon demand as regulated by the controller 36.
  • the coupling device is preferably an electric motor 150 which is in communication with the dolly wheel spindle 138 through a planetary gear 152 system which is restrained by housing 130.
  • the electric motor 150 is preferably in communication with the controller 36 by wires 154. In an unexcited mode of the electric motor 150, the dolly wheel spindle 118 can free wheel allowing full 360 degree rotation of the dolly wheel 12.
  • the controller 36 signals the electric motor
  • the electric motor 150 can be powered to provide a dampened braking force to the dolly wheel spindle 138 and thus the dolly wheel 12.
  • the electric motor 150 can also be powered to provide rotation of the dolly wheel spindle 138. In this mode, the motor 150 applies a full locking force to the dolly wheel spindle.
  • the dolly wheel spindle 138 is rotated through communication with a driven ring gear 152.
  • the ring gear 152 is in communication with the planetary gears 154 driven by the electric motor 150 to effectuate steering.
  • the dolly wheel 12 is steered in the opposite direction as the shaft 156, which is rotated by the electric motor 150. With the planetary gear reduction, this provides precise directional control over the dolly wheel 12 either automatically or manually on demand.
  • the coupling device 34 is used for the same purposes described above, namely to restrict movement of the dolly wheel 12 about its axis 20 as desired by the controller 36.
  • the coupler housing 130 includes a support attachment arm 132, which is secured to the support member 16.
  • the coupling device is preferably a hydraulic pump/motor 160 which is in communication with the dolly wheel spindle 138 to apply a resistive or braking force thereto as regulated by flow or lack thereof of a drive system 161 in coordinated operation with the flow valve 162, both of which are controlled by the controller 36.
  • the pump/motor 160 can be a vane pump, a piston pump, or a gear pump motor with appropriate controls to accommodate pump/motor characteristics. Obviously, other pump/motors can be utilized.
  • the pump/motor 160 is preferably in fluid communication with a valve 162 which effects control of flow which allows or resists rotation of the dolly wheel spindle 138.
  • the valve 162 is preferably electric controlled, but other valves may obviously be utilized.
  • the valve 162 preferably has an open position, variable metered positions, and a closed position. When the valve 162 is in the open position, no force resists the dolly wheel spindle 138 and the dolly wheel can thus rotate throughout its 360 degrees while pumping fluid freely through the open valve 162.
  • the valve 162 is closed, the total restriction of flow locks up the pump/motor 160 such that the dolly wheel spindle 138 is locked.
  • the valve 162 is partially restricted, a greater rotating force is required to pump fluid through the valve 162, thus providing a dampened effect on the rotation of the spindle 138.
  • the dolly wheel spindle 138 is locked or prevented from rotating.
  • one direction of flow of the fluid drive system 161 is activated to provide flow into the passage 164 and out of the passage 166, or vice versa for opposite direction of rotation.
  • the fluid drive system 16 pumps fluid through the passage 164 to turn the dolly wheel 12 in one direction and through the passage 166 to turn the dolly wheel 12 in the other direction.
  • the controller 36 is in communication with the valve 162 during controlled steering to effectuate a closed state for the valve 162.
  • the dampening system is preferably utilized in connection with dolly wheels, however it will be understood that it could be utilized for a variety of other applications. Moreover, the dampening system is preferably utilized on a pair of dolly wheels, which are incorporated into a vehicle. Preferably, the dolly wheels are utilized on a mobility vehicle 170, as shown in Figure 10, but they could obviously be used on any type of driven vehicle or trailed device. Moreover, they can be located forwardly or rearwardly of the drive axle and less than or more than two dolly wheels may be utilized.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Handcart (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Système de direction de roues servantes d'un véhicule comprenant une roue servante, une broche communiquant avec la roue servante de sorte que cette dernière et la broche soient solidement fixées l'une à l'autre et puissent tourner de manière solidaire sous forme d'un un bloc unique. La broche de la roue servante communique avec un dispositif de couplage et un système de commande de direction. Le système de commande de direction et le dispositif de couplage communiquent avec un contrôleur pour réguler leur actionnement. Lorsqu'un signal provenant du contrôleur demande l'utilisation de la commande de direction, le dispositif de couplage applique une force de retenue sur la broche de la roue servante afin de limiter la liberté de rotation de la roue servante. Lorsque la rotation de la broche de la roue servante est ainsi retenue, le système de commande de direction peut effectuer une commande de direction directe des roues servantes de façon à assurer avec précision une commande directionnelle. Lorsque le contrôleur indique que la capacité normale de la roue servante est souhaitée, la force de retenue appliquée sur la broche de la roue servante par le dispositif de couplage est relâchée et le système de commande de direction, neutralisé. Par ses caractéristiques, le dispositif de couplage peut conférer une résistance variable à la liberté de rotation de la broche de la roue servante en vue de limiter le shimmy et l'oscillation de ladite roue, et présente d'autres avantages pour réduire la liberté de rotation.
PCT/US2003/016683 2002-05-28 2003-05-28 Systeme de direction de roues servantes d'un vehicule WO2003103365A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP03757289A EP1539557A4 (fr) 2002-05-28 2003-05-28 Systeme de direction de roues servantes d'un vehicule
AU2003243323A AU2003243323A1 (en) 2002-05-28 2003-05-28 Dolly wheel steering system for a vehicle

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US10/156,466 2002-05-28
US10/156,304 2002-05-28
US10/156,466 US7159695B2 (en) 2001-05-25 2002-05-28 Dampening for a dolly wheel within a steering system
US10/156,304 US6668965B2 (en) 2001-05-25 2002-05-28 Dolly wheel steering system for a vehicle

Publications (1)

Publication Number Publication Date
WO2003103365A1 true WO2003103365A1 (fr) 2003-12-18

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PCT/US2003/016684 WO2003103986A2 (fr) 2002-05-28 2003-05-28 Amortissement d'une roue servante dans un systeme de direction
PCT/US2003/016683 WO2003103365A1 (fr) 2002-05-28 2003-05-28 Systeme de direction de roues servantes d'un vehicule

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PCT/US2003/016684 WO2003103986A2 (fr) 2002-05-28 2003-05-28 Amortissement d'une roue servante dans un systeme de direction

Country Status (3)

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EP (2) EP1539505A4 (fr)
AU (2) AU2003243323A1 (fr)
WO (2) WO2003103986A2 (fr)

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US10252571B2 (en) * 2016-10-17 2019-04-09 Kubota Corporation Work vehicle
SE2050567A1 (en) * 2020-05-14 2021-11-15 Husqvarna Ab Robotic Lawnmower
US12140953B2 (en) 2019-09-25 2024-11-12 Husqvarna Ab Propulsion control arrangement, robotic tool, method of propelling robotic tool, and related devices

Families Citing this family (1)

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Publication number Priority date Publication date Assignee Title
JP2008053084A (ja) 2006-08-25 2008-03-06 Sumitomo Chemical Co Ltd 燃料電池用膜・電極接合体及び燃料電池

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US2367993A (en) 1942-07-29 1945-01-23 Bishop Arthur Ernest Joseph Means for damping swiveling oscillations in caster wheels
US2770832A (en) 1953-02-11 1956-11-20 Houdaille Industries Inc Swivel wheel damper
US4667365A (en) 1986-02-24 1987-05-26 M-B Company, Inc. Of Wisconsin Anti-shimmy caster wheel assembly using a speed sensor and braking action about the verticle axis
US5699873A (en) * 1992-08-27 1997-12-23 Kabushiki Kaisha Komatsu Seisakusho Operation control system for traveling vehicle
US6302421B1 (en) 2000-05-15 2001-10-16 Aaron Lee Vehicle with swivel control of casters for enabling rider or external steering

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US4432116A (en) * 1981-04-06 1984-02-21 Houdaille Industries, Inc. Caster shimmy damper including a viscous damping medium
US5590605A (en) * 1995-11-20 1997-01-07 The Walt Disney Company Conveying device with self steering powered caster
US5809612A (en) * 1996-01-02 1998-09-22 Teftec Corporation Anti-Shimmy caster wheel Mounting
CA2262203A1 (fr) * 1998-03-10 1999-09-10 Richard L. Feller Appareil de nettoyage des pistes d'aeroport
US6161849A (en) * 1998-09-29 2000-12-19 Schweninger; Q. David Turn wheel locking device

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Publication number Priority date Publication date Assignee Title
US2367993A (en) 1942-07-29 1945-01-23 Bishop Arthur Ernest Joseph Means for damping swiveling oscillations in caster wheels
US2770832A (en) 1953-02-11 1956-11-20 Houdaille Industries Inc Swivel wheel damper
US4667365A (en) 1986-02-24 1987-05-26 M-B Company, Inc. Of Wisconsin Anti-shimmy caster wheel assembly using a speed sensor and braking action about the verticle axis
US5699873A (en) * 1992-08-27 1997-12-23 Kabushiki Kaisha Komatsu Seisakusho Operation control system for traveling vehicle
US6302421B1 (en) 2000-05-15 2001-10-16 Aaron Lee Vehicle with swivel control of casters for enabling rider or external steering

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Title
See also references of EP1539557A4 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10252571B2 (en) * 2016-10-17 2019-04-09 Kubota Corporation Work vehicle
US12140953B2 (en) 2019-09-25 2024-11-12 Husqvarna Ab Propulsion control arrangement, robotic tool, method of propelling robotic tool, and related devices
SE2050567A1 (en) * 2020-05-14 2021-11-15 Husqvarna Ab Robotic Lawnmower
WO2021228633A1 (fr) * 2020-05-14 2021-11-18 Husqvarna Ab Tondeuse à gazon robotique
SE545390C2 (en) * 2020-05-14 2023-07-25 Husqvarna Ab Self-Propelled Robotic Lawnmower comprising a Caster Wheel

Also Published As

Publication number Publication date
WO2003103986A3 (fr) 2004-02-19
AU2003239908A1 (en) 2003-12-22
EP1539557A4 (fr) 2008-06-25
WO2003103986A2 (fr) 2003-12-18
EP1539505A2 (fr) 2005-06-15
EP1539505A4 (fr) 2007-08-29
EP1539557A1 (fr) 2005-06-15
AU2003243323A1 (en) 2003-12-22
AU2003239908A8 (en) 2003-12-22

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