公开(公告)号：US5145198A

公开(公告)日：1992-09-08

申请号：US587675

申请日：1990-09-25

申请人： Pekka Vanninmaja

发明人： Pekka Vanninmaja

IPC分类号： B62D13/00

CPC分类号： B62D13/00

摘要： A method of controlling a transport means (1) comprising a body (2) and wheels (3a to 3h) attached to the body (2) on both sides of its central line one after another in the longitudinal direction of the body, all the wheels (3a to 3h) being arranged to turn about vertical axes (4a to 4h) of turning to change the direction of travel of the transport means (1) so that rotation axes (11a to 11h) for all the wheels (3a to 3h) intersect substantially at the same vertical axis of turning (9) so that the position of the axis of turning in the longitudinal direction of the transport means (1) is shifted in proportion to the magnitude of the an angle of turning (.alpha.); and a transport means (1). To avoid an unexpected obstacle (10) the turning of the wheels (3a to 3h) is deviated from their normal path by shifting the axis of turning (9) in the longitudinal direction of the transport means (1) towards its forward end, so that the rear end moves with a larger curved movement than usually. When the driving conditions are normalized, the axis (9) of turning is returned to its normal position.

摘要翻译： 一种控制传送装置（1）的方法，包括主体（2）和沿其主体的纵向方向依次在其中心线的两侧附接到主体（2）的轮（3a至3h），所有这些 轮（3a至3h）被设置成绕转动的垂直轴线（4a至4h）转动以改变输送装置（1）的行进方向，使得用于所有车轮（3a至3h）的旋转轴线（11a至11h） ）基本上在转动（9）的相同垂直轴线处相交，使得输送装置（1）的纵向方向上的转动轴线的位置与转动角（α）的大小成正比地偏移。 和传送装置（1）。 为了避免意外的障碍物（10），通过使运输装置（1）的纵向方向上的转动轴线（9）向前端移动，轮子（3a至3h）的转动偏离其正常路径，因此 后端以比通常更大的弯曲运动移动。 当行驶条件归一化时，转动轴线（9）返回其正常位置。

公开(公告)号：US5013057A

公开(公告)日：1991-05-07

申请号：US356342

申请日：1989-05-23

申请人： Pekka Vanninmaja ,  Rainer Jakobsson

发明人： Pekka Vanninmaja ,  Rainer Jakobsson

IPC分类号： B62D13/04

CPC分类号： B62D13/04

摘要： A transport means (1) comprising a body (2) and several wheels (3a to 3h) positioned in the longitudinal direction one after another on both sides of the body and turnable about vertical axes (4a to 4h). The transport means (1) is supported at one end turnably by means of a tractor means (6) by means of which the direction of travel of the transport means (1) is controlled. In order that the transport means could be controlled more easily, a control sensor (7) is mounted in a swing joint (5) connecting the transport means (1) to the tractor means (6), which control sensor indicates the angle (.alpha.) of turning between the tractor means (6) and the transport means (1), whereby the sensor (7) together with an adjusting means (8) controls the turning of the wheels (3a to 3h) in proportion to the angle (.alpha.) of turning. When the angle (.alpha.) of turning is, e.g., no more than 20.degree., the adjusting means (8) controls the wheels (3a to 3h) so that they turn in such a way that the transport means (1) turns about a center (9) of turning positioned in the middle thereof in the longitudinal direction, whereby the turning radii at the front and rear end are substantially equal. When the angle (.alpha.) of turning exceeds 20.degree., the position of the center (9) of turning is shifted in the longitudinal direction of the transport means (1) in proportion to the value of the angle (.alpha.) of turning towards the rear end of the transport means (1), whereby in parking situations it behaves similarly as a conventional trailer, but the axes of all the wheels (3a to 3h) go through the center (9) of turning, whereby the wheels always rotate without sliding.

摘要翻译： 一种输送装置（1），其包括主体（2）和沿主体的纵向方向一个接一个地定位在主体的两侧并且可绕垂直轴线（4a至4h）转动的多个轮子（3a至3h）。 运输装置（1）通过拖拉机装置（6）可转动地支撑在一个端部，通过该拖拉机装置控制运输装置（1）的行进方向。 为了更容易地控制传送装置，控制传感器（7）安装在将传送装置（1）连接到拖拉机装置（6）的摆动接头（5）中，控制传感器指示角度（α ）在传动装置（6）和传送装置（1）之间转动，由此传感器（7）与调节装置（8）一起控制车轮（3a至3h）与角度（α ）转弯。 当转弯角度（α）例如不大于20°时，调节装置（8）控制车轮（3a至3h），使其转动，使得运输装置（1）绕一 中心（9）在纵向方向上位于其中间，由此前端和后端的转动半径基本相等。 当转动角度（α）超过20度时，转动中心（9）的位置与传送装置（1）的纵向方向成比例地转向 运输装置（1）的后端，因此在停车状态下，它的行为类似于常规拖车，但是所有车轮（3a至3h）的轴线穿过转动中心（9），由此轮子总是在没有 滑动