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WO1998021081A1 - Vehicule - Google Patents

Vehicule Download PDF

Info

Publication number
WO1998021081A1
WO1998021081A1 PCT/GB1997/003040 GB9703040W WO9821081A1 WO 1998021081 A1 WO1998021081 A1 WO 1998021081A1 GB 9703040 W GB9703040 W GB 9703040W WO 9821081 A1 WO9821081 A1 WO 9821081A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
sphere
axis
steering mechanism
wheel
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/GB1997/003040
Other languages
English (en)
Inventor
Paul Radmall
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rako Products Ltd
Original Assignee
Rako Products Ltd
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 GBGB9623396.0A external-priority patent/GB9623396D0/en
Priority claimed from GBGB9626717.4A external-priority patent/GB9626717D0/en
Application filed by Rako Products Ltd filed Critical Rako Products Ltd
Priority to AU48755/97A priority Critical patent/AU4875597A/en
Publication of WO1998021081A1 publication Critical patent/WO1998021081A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B62K5/02—Tricycles
    • B62K5/05—Tricycles characterised by a single rear wheel
    • 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
    • B60B19/14—Ball-type wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • 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
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
    • 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
    • B62K21/00—Steering devices
    • 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
    • B62K5/02—Tricycles
    • B62K5/023—Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels

Definitions

  • the present invention relates to a vehicle.
  • a steering mechanism for a vehicle comprising a direction control element which is controlled in response to rotation of a driver support member about a control axis.
  • t he direction control element comprises a wheel or wheels rotatably mounted about a first axis to vary the direction of travel.
  • the wheel may be carried on a wheel support having a substantially inverted “L” or inverted “U” shape.
  • the upper portion of the wheel support is rotatably coupled to a vehicle chassis or frame in order to turn about a substantially vertical axis to provide
  • the substantially vertical axis corresponds to the first axis and could be inclined slightly in a direction along the longitudinal axis of the vehicle in order to vary the steering characteristics, for example to improve the tendency of the vehicle to travel in the straight ahead direction.
  • a damping device such as a friction element, may be provided to increase the force required to turn the steering wheel about the first axis. This dampens the steering and thereby prevents the vehicle form exhibiting oscillatory changes of direction.
  • the wheel is driven by a motor.
  • An electric motor may be held on the wheel support and coupled to the wheel via a gearbox.
  • the driver support member is a driver's seat. It is thus possible to provide a vehicle which is steered by rotating the driver's seat about a control axis.
  • control axis is substantially vertical.
  • the direction control element may be a rotating sphere which, in use. makes contact with a surface over which the vehicle is travelling.
  • the sphere is held captive within a cage and arranged such that part of the sphere projects from the cage to engage a surface adjacent the vehicle, and a drive roller engages the sphere to cause the sphere to rotate, the drive roller being rotatably mounted about a first axis to the vary the direction of drive.
  • a vehicle having a steering mechanism according to the first aspect of the present invention.
  • the vehicle has three points of contact with the ground.
  • the sphere or wheel of the steering and drive mechanism constitutes a first point of contact, whereas first and second wheels may provide the additional points of contact.
  • the first and second wheels may be mounted for rotation about a common axis.
  • the first and second wheels may constitute the forward points of contact with the ground, whereas the sphere or wheel of the steering and drive mechanism may form a rear point of contact.
  • this configuration may be reversed such that the sphere or wheel of the steering and drive mechanism forms the forward most contact and the first and second wheels form the rearmost regions of contact with the ground.
  • the drive roller is positioned slightly forwardly of the uppermost point of the sphere. This has the advantage that, whilst the vehicle is travelling in the forward direction, the drive roller is urged to climb towards the top of the sphere. This ensures good frictional contact be t ween t he roller and the sphere and partially or wholly balances the forces acting on a guidance system for the sphere.
  • the first axis is substantially perpendicular to the surface over which the vehicle travels.
  • the drive roller is driven about a horizontal axis in order to impart drive to the sphere, but is also rotatable about a substantially vertical axis, in order to vary the direction of drive. Turning the drive roller from the "forward" driving position, causes the roller to be forced more firmly into contact with the sphere. This additional contact is taken up by further deformation of the sphere. The roller is turned about the vertical axis in response to movement of the driver support member.
  • the drive roller may incorporate an integral electric motor. This provides a compact drive design. However, such an arrangement can give rise to heat dissipation problems, and vehicles designed to carry heavy loads or move relatively fast may have one or more motors located adjacent the drive roller. Such electrically driven vehicles are suitable for use as invalid carriages or as the moving platform for fork-lifts or other low speed applications. More speedy vehicles for sports use. leisure use, or crossing rough or difficult terrain, may be powered by internal combustion engines.
  • the sphere is resiliently deformable.
  • the sphere may comprise a hardened rubber shell incorporating a plurality of circular reinforcement bands.
  • the sphere may be filled with compressed gas.
  • a basketball adequately fulfilled the role of the sphere.
  • the sphere is held at a predetermined position within its cage.
  • Three or more ball supports may be used to keep the sphere in position.
  • Each ball support may comprise a sphere held within a cup by a plurality of recirculating ball-bearings.
  • a series of rollers may be positioned around the sphere, or a retaining ring of low friction material may be provided. This provides a robust inexpensive arrangement for holding the sphere in position.
  • the steering wheel or roller When the steering is performed from the rear of the vehicle, it may be advantageous to reverse the direction in which the steering wheel or roller is turned about the steering axis compared to the motion of the driver support member, in order to provide intuitive steering.
  • the steering wheel or roller in which the seat is rotated around a support axis to provide steering, if the seat is rotated anticlockwise in order to turn the vehicle to the left, the steering wheel or roller may be rotated clockwise about its steering axis in order to effect a left turn.
  • the reversal of motion can be performed by a suitable gearing arrangement.
  • the seat may be directly coupled (i.e. the sense of rotation is not reversed) to the steering wheel or roller to provide steering.
  • a non-linear gearing arrangement may be used to connect the driver support member to the direction control element.
  • the non-linear gearing arrangement may, for example, comprise an elliptical gear or a pivot arm assembly.
  • the position of the direction control element may be measured and processed to control actuators controlling the direction control element.
  • the steering may be arranged to provide fine directional control when the vehicle is travelling substantially straight ahead, but provide proportionally greater steering for a given angular rotation of the driver support member as the steering angle increases from the straight ahead direction.
  • the vehicle has balance weights located adjacent the first and second wheels in order to prevent the vehicle from toppling when the driver mounts or dismounts, or turns violently.
  • the batteries may be located adjacent to the front wheels and serve as the balance weights.
  • first and second wheels may also be driven to provide a high tractive
  • the vehicle may include a towing socket for connection to a tow hitch of a towing vehicle.
  • the towing socket is advantageously located at the end of the vehicle nearest to the drive sphere or drive roller.
  • the height of the towing socket is selected such that , during towing, the drive sphere or drive roller is lifted out of contact with the
  • a drive mechanism for a vehicle comprising a sphere held captive within a cage and arranged such that part of the sphere projects from the cage to engage a surface adjacent the vehicle, and a drive roller engaging the sphere to cause the sphere to rotate, the drive roller being rotatably mounted about a first axis to the vary the direction of drive.
  • a self-propelled vehicle adapted to be towed by another vehicle.
  • the direction control element (such as a drive wheel or drive sphere) is lifted out of contact with the surface over which the vehicle is being towed.
  • the vehicle may have a tow socket for connection to a tow hitch, for example, a tow ball, of another vehicle.
  • Figure 1 is a plan view of a vehicle constituting a first embodiment of the present invention
  • Figure 1A is a view from behind the vehicle along the direction of arrow A showing the rear wheel and wheel support;
  • Figure 2 is a side view of the vehicle shown in Figure 1, and showing some of the hidden details adjacent the steering wheel;
  • Figure 3 is a view of the front of the vehicle shown in Figure 2;
  • Figure 4 is a schematic view of a front wheel;
  • Figure 5 is a plan view of a vehicle constituting second embodiment of the present
  • Figure 6 is a schematic cross-section of the vehicle shown in Figure 5.
  • FIG. 7 illustrates the drive arrangement in greater detail.
  • the vehicle shown in Figure 1 comprises a chassis 2 which supports first and second wheels 4 and 6 at the front thereof, and a single steering and drive wheel 8 at the rear thereof.
  • the steering wheel 8 is mounted on a wheel support bracket 10, which is substantially "L" shaped as shown in Figure 1A.
  • An electric motor 12 and gearbox 14 are secured to the bracket 10 in order to drive the wheel 8.
  • the uppermost portion of the bracket 10 is attached to a shaft 15 which extends towards, and connects with, a passenger seat 20.
  • the shaft 15 is held by a journal bearing 22 to the chassis 15 thereby enabling the shaft 15 to rotate about its axis but holding it against longitudinal motion.
  • the steering wheel 8 can be rotated by the user rotating the seat 20 about the axis of the shaft
  • the chassis comprises a peripheral metal frame which effectively defines the edges of the floor pan of the vehicle.
  • the upper and lower surfaces of the floor pan are constituted by moulded plastic elements, and the space between the plastic elements is filled with a structural foam.
  • This provides a chassis which is both light and strong, and which also enables structures, such as a fairing 25, and a rear pod 28 comprising a frame supporting the seat 20 and the drive wheel 8 and associated motor and gearbox, to be easily bolted to the chassis. This facilitates maintenance, repair or modification of the vehicle.
  • the forward most part of the chassis has a pipe 30 extending through the space defined by the upper and lower plastics layers 32 and 34 and the integral structural foam 36. As shown more clearly in Figure 4, the pipe 30 provides the support for stub axles 38 which hold the front wheels 4 and 6.
  • the stub axle 38 is supported on bushes 40 and 42.
  • a support plate 44 is secured to the stub axle 38 and also to the chassis 2, thereby holding the axle 38 against rotation or translation within the tube 30.
  • the outermost end of the stub axle engages with a wheel bearing which supports the front wheel 4.
  • Batteries for example of the lead acid type are held in a battery recess located towards the front of the vehicle.
  • a cover is provided above the batteries in order to prevent them being damaged by the user of the vehicle.
  • the degree of rotation of the steering wheel 8 about its shaft 22 may be limited by stops (not shown) to prevent the vehicle performing too tight a turn.
  • the space beneath the seat 20 may be used to house power electronics which control the motor speed. Motor speed controllers are known per se, and need not be described here.
  • the vehicle shown in Figure 5 comprises a chassis 2 which supports first and second wheels 4 and 6 at a front end 108 thereof.
  • a tow socket 1 13 is also provided at the rear end of the vehicle to enable the vehicle to be attached to the tow ball
  • a drive roller 1 14 is disposed above the sphere 1 10 and located slightly forward of the centre of the sphere, as shown in Figures 5 and 6.
  • the roller 1 14 is in contact with the sphere and is driven about a horizontal axis indicated as chain line 1 16 in order to rotate the sphere, and thereby to drive the vehicle.
  • the roller 1 14 is also carried on a vertical shaft 1 18 which is rotatable about its own axis, so as to control the direction in which the
  • the sphere 1 10 is also held in position by supports 120.
  • supports 120 Each of these comprises a ball held within a supporting cup. The ball is supported within the cup on a plurality of
  • the drive roller 1 14 contains an integral electric motor which receives power from batteries 122 via a direction control switch, a speed regulator (not shown) and slip rings.
  • the batteries 122 are, as with the first embodiment, positioned adjacent the first and second wheels 4 and 6 so as to balance the vehicle against toppling when the driver mounts or
  • the drive roller 1 14 is offset in a forward direction from the centre 124 of the sphere 110.
  • the angle between a vertical line passing through the centre of the sphere 124 and a plane 126 containing the axis of rotation of the drive roller 1 14 and also passing through the centre of the sphere, is typically between 3° and 20°. Forces resisting the rotation of the sphere 110 cause the sphere to try to move to a position beneath the roller 114. This causes the force acting between the sphere and the roller to increase, thereby enabling the maximum driving torque to be increased.
  • the driver's chair 132 is connected to an input shaft 130 of a differential gearbox 134.
  • a differential gearbox 134 Such an arrangement allows the chair and the support shaft 118 to be arranged in line with one another whilst reversing the sense of the turn such that anticlockwise motion of the chair 132 about its support causes the roller 114 to be rotated in a clockwise motion about the support 118.
  • the vehicle may be fitted with a fairing 140 in order to provide a personal transport.
  • the fairing 140 may be omitted and the front most portion of the vehicle may be fitted with forklifts, thereby enabling it to be used to transport goods within a warehouse.
  • the shaft 118 may be rotated by an electric motor acting through a gearbox.
  • the rear end of the vehicle is coupled to a two ball of a towing vehicle via the towing socket 113.
  • the socket 1 13 may be of the conventional cup-type commonly found on light trailers.
  • the wheels 4 and 6 remain in contact with the surface beneath the vehicle, but the drive sphere 110 is lifted out of contact with the surface.
  • the vehicle can be towed for many miles in this configuration.
  • the fairing may serve to define not only a passenger space, but also a load space.
  • the front of the fairing may be provided with an internal net which acts as a shopping carrier.
  • the first embodiment of the invention may also be provided with a towing hook in order to facilitate transport over large distances.
  • the excellent manoeuvrability of the vehicle makes is especially suited for use in confined spaces, but also enables it to be used for recreational pursuits.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

L'invention concerne un mécanisme de direction pour un véhicule, dans lequel le siège (20) du conducteur peut tourner autour d'un axe de commande pour diriger le véhicule.
PCT/GB1997/003040 1996-11-08 1997-11-05 Vehicule Ceased WO1998021081A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU48755/97A AU4875597A (en) 1996-11-08 1997-11-05 A vehicle

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GBGB9623396.0A GB9623396D0 (en) 1996-11-08 1996-11-08 A vehicle
GB9623396.0 1996-11-08
GBGB9626717.4A GB9626717D0 (en) 1996-12-23 1996-12-23 A vehicle
GB9626717.4 1996-12-23

Publications (1)

Publication Number Publication Date
WO1998021081A1 true WO1998021081A1 (fr) 1998-05-22

Family

ID=26310373

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1997/003040 Ceased WO1998021081A1 (fr) 1996-11-08 1997-11-05 Vehicule

Country Status (3)

Country Link
AU (1) AU4875597A (fr)
GB (1) GB2319235A (fr)
WO (1) WO1998021081A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004110329A1 (fr) * 2003-06-11 2004-12-23 Kudhara, Inc. Vehicule d'aide a la mobilite
US6902177B2 (en) 2003-06-11 2005-06-07 Kudhara, Inc. Mobility assistance vehicle
US7798510B2 (en) 2007-02-15 2010-09-21 Scott Patrick Comstock Multi-wheeled vehicle
EP3622791A1 (fr) * 2018-09-14 2020-03-18 Z.F. S.r.l. Véhicule pour le travail en positions basses

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1009740C2 (nl) * 1998-07-27 2000-01-28 M & M Wheels V O F Voertuig.
IT201800009654A1 (it) * 2018-10-22 2020-04-22 Hydra Consulting Srl Veicolo elettrico mobile su sfere motorizzate direzionabili
CN112572053B (zh) * 2020-12-24 2022-07-12 江苏巨龙电动车制造有限公司 一种球形轮胎的电动平车
DE102022129853A1 (de) * 2022-11-11 2024-05-16 Innovated Transport Systems Ug (Haftungsbeschränkt) Fahrzeug für einen Fahrer mit einer auf einem Boden abrollenden Kugel

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4170271A (en) * 1977-12-08 1979-10-09 Looker Olin L Steering system for personnel carrier
JPS62203824A (ja) * 1986-02-28 1987-09-08 Toyoda Autom Loom Works Ltd 産業車両用の全方向走行型駆動装置
JPH02156815A (ja) * 1988-12-09 1990-06-15 Iseki & Co Ltd 乗用モーア
DE29710647U1 (de) * 1997-06-18 1997-09-11 Elst, Peter, Dipl.-Ing.(FH), 86316 Friedberg Segelfahrzeug für festen Untergrund

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB537342A (en) * 1939-12-14 1941-06-18 Henry Wilfred Cornish Improvements in and connected with cranes
US3920093A (en) * 1971-04-28 1975-11-18 Robert F Moran Omnidirectionally steerable vehicle
US3744585A (en) * 1971-06-01 1973-07-10 Rolligan Corp Vehicle having axial supporting wheels engageable with load bearing driving rollers
IT978377B (it) * 1973-01-23 1974-09-20 Folco Z Struttura mobile con raggio di curvatura di valore zero
JPH0549756A (ja) * 1991-08-28 1993-03-02 Namco Ltd 自走式乗物

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4170271A (en) * 1977-12-08 1979-10-09 Looker Olin L Steering system for personnel carrier
JPS62203824A (ja) * 1986-02-28 1987-09-08 Toyoda Autom Loom Works Ltd 産業車両用の全方向走行型駆動装置
JPH02156815A (ja) * 1988-12-09 1990-06-15 Iseki & Co Ltd 乗用モーア
DE29710647U1 (de) * 1997-06-18 1997-09-11 Elst, Peter, Dipl.-Ing.(FH), 86316 Friedberg Segelfahrzeug für festen Untergrund

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 012, no. 057 (M - 670) 20 February 1988 (1988-02-20) *
PATENT ABSTRACTS OF JAPAN vol. 014, no. 412 (C - 0755) 6 September 1990 (1990-09-06) *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004110329A1 (fr) * 2003-06-11 2004-12-23 Kudhara, Inc. Vehicule d'aide a la mobilite
US6902177B2 (en) 2003-06-11 2005-06-07 Kudhara, Inc. Mobility assistance vehicle
JP2007501165A (ja) * 2003-06-11 2007-01-25 クハラ，インコーポレイテッド 移動補助車両
US7798510B2 (en) 2007-02-15 2010-09-21 Scott Patrick Comstock Multi-wheeled vehicle
EP3622791A1 (fr) * 2018-09-14 2020-03-18 Z.F. S.r.l. Véhicule pour le travail en positions basses

Also Published As

Publication number Publication date
AU4875597A (en) 1998-06-03
GB2319235A (en) 1998-05-20
GB9723385D0 (en) 1998-01-07

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