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公开(公告)号：WO2016166561A1
公开(公告)日：2016-10-20
申请号：PCT/HU2016/050012
申请日：2016-04-13
申请人： SZABÓ, István
发明人： SZABÓ, István
IPC分类号： B62D13/00
CPC分类号： B62D13/00 , B62D13/005
摘要： This invention relates to a method and apparatus for steering a roadway vehicle train having at least two vehicle bodies (K1, K2...Kn-1, Kn), a bogie (F1-Fm) linking two adjacent vehicle bodies (K1, K2...Kn) and a stiff-axle wheel assembly (T1-Tm) pivoted on the bogie (F1-Fm) assigned to a respective vehicle body (K1, K2...Kn-1, Kn). The method comprising steering the first-in-the-course stiff-axle wheel assembly (T1) by an angular rotation opposite to the angular rotation of a controlled first wheel assembly (Te) and steering a stiff-axle wheel assembly (T2... Tm, Tu) assigned to a further vehicle body (K2...Kn) by an angular rotation opposite to the angular rotation of a preceding vehicle body (K1, Kn-1). The apparatus according to the invention, wherein a device for detecting a value of angular rotation of the controlled wheel assembly (Te) is linked up with a steering mechanism (P) pivotally associated with the first stiff-axle wheel assembly (T1).
摘要翻译： 本发明涉及一种用于转向具有至少两个车身（K1，K2 ... Kn-1，Kn）的车道车辆列车的方法和装置，连接两个相邻车体（K1，K2）的转向架（F1-Fm） ... Kn）和转向分配给相应车身（K1，K2 ... Kn-1，Kn）的转向架（F1-Fm）上的刚性轴轮组件（T1-Tm）。 该方法包括使第一当前的刚性轴轮组件（T1）转动与受控的第一轮组件（Te）的角度旋转相反的角度旋转，并且转向刚性轴轮组件（T2 .. ，Tm，Tu）通过与前一车体（K1，Kn-1）的角旋转相反的角旋转分配给另一车体（K2 ... Kn）。 根据本发明的装置，其中用于检测受控轮组件（Te）的角度旋转值的装置与与第一刚性轴轮组件（T1）枢转相关联的转向机构（P）连接。
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公开(公告)号：WO2013110196A1
公开(公告)日：2013-08-01
申请号：PCT/CA2013/050050
申请日：2013-01-25
发明人： DEBNAM, Ashley , FORTIN, Adam , PARSON, Sterling
CPC分类号： B62D5/0457 , B60D1/42 , B62D1/065 , B62D12/00 , B62D13/00 , B62D13/02 , B62D13/025 , B62D13/04
摘要： A steering system, method, and computer-readable medium for controlling a steerable, self-propelled vehicle for travelling in an end-to-end series of steerable, self-propelled vehicles, the vehicle including a plurality of individually controllable propelling devices connected at a generally vertical pivot to an axle of the vehicle. The steering system includes: an angle sensor for detecting an inter-vehicle angular position between two of the vehicles and providing a corresponding signal indicative thereof; a distance sensor for detecting an inter-vehicle distance between two of the vehicles and providing a corresponding signal indicative thereof; and a controller system. The controller system is configured to: receive the signals from the angle sensor and the distance sensor, control a speed of each propelling device based on the inter-vehicle distance, and control an angle of each propelling device based on the inter-vehicle angular position
摘要翻译： 一种转向系统，方法和计算机可读介质，用于控制可转向的自行车辆，用于在端对端系列的可转向的自行车辆中行进，所述车辆包括多个可独立控制的推进装置， 与车辆轴线的大致垂直的枢轴。 转向系统包括：角度传感器，用于检测两辆车辆之间的车间角度位置，并提供指示其的对应信号; 距离传感器，用于检测两个车辆之间的车辆间距离并提供指示其的对应信号; 和控制器系统。 控制器系统被配置为：从角度传感器和距离传感器接收信号，基于车辆间距控制每个推进装置的速度，并且基于车辆间角度位置来控制每个推进装置的角度
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公开(公告)号：WO2013110195A1
公开(公告)日：2013-08-01
申请号：PCT/CA2013/050049
申请日：2013-01-25
发明人： FORTIN, Adam , DEBNAM, Ashley , PARSON, Sterling
IPC分类号： B60D1/58 , B60W30/10 , B60W30/16 , B60W30/165 , B62D13/00
CPC分类号： B62D5/0457 , B60D1/42 , B62D1/065 , B62D12/00 , B62D13/00 , B62D13/02 , B62D13/025 , B62D13/04
摘要： A hitch apparatus for connecting a self-propelled trailing vehicle to a self-propelled leading vehicle and for measuring their relative positions is described. The hitch apparatus includes: a first hitch assembly for connecting a rear end of the leading vehicle to a front end of the trailing vehicle; a first angle sensor operatively connected to a pivot shaft and capable of measuring a horizontal angle between a centerline of a swivel base extending through a pivot shaft and a longitudinal centerline of the leading vehicle; a second hitch assembly for mounting on the front end of the trailing vehicle, the second hitch assembly including a connecting device mounted on the front end of the trailing vehicle and connectible to the swivel base of the leading vehicle; and a distance sensor for measuring a variable distance between a preselected point at the front end of said trailing vehicle and the swivel base.
摘要翻译： 描述了一种用于将自推进后拖车连接到自行式前导车辆并用于测量其相对位置的搭接装置。 牵引装置包括：第一牵引组件，用于将前方车辆的后端连接到后方车辆的前端; 第一角度传感器，其可操作地连接到枢轴并且能够测量延伸穿过枢转轴的旋转基座的中心线与前方车辆的纵向中心线之间的水平角; 第二牵引组件，用于安装在后部车辆的前端，所述第二牵引组件包括安装在所述后部车辆的前端并可连接到所述前方车辆的所述旋转底座的连接装置; 以及距离传感器，用于测量所述后方车辆的前端的预选点与所述旋转底座之间的可变距离。
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公开(公告)号：WO2013066215A1
公开(公告)日：2013-05-10
申请号：PCT/SE2011/000193
申请日：2011-10-31
IPC分类号： B60W30/02 , B60W40/114 , B60T8/1755 , B60W40/109 , B62D53/00
CPC分类号： B60W30/02 , B60T8/1708 , B60T8/1755 , B60T2230/06 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W2520/14 , B60Y2200/148 , B62D13/00
摘要： An arrangement for improving stability of a vehicle combination comprising a towing vehicle and at least one towed vehicle, where the at least one towed vehicle comprises at least one actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a yaw rate determining means for determining the yaw rate of the vehicle and the at least one towed vehicle, where the arrangement further comprises a vehicle combination model adapted for determining a desired delay value between the yaw rate of the towing vehicle and the yaw rate of the at least one towed vehicle, where the arrangement is adapted to stabilise the at least one towed vehicle by using the determined yaw rate of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired yaw rate for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined yaw rate of the at least one towed vehicle corresponds to the desired yaw rate of the at least one towed vehicle. The yaw rate may be estimated or measured. The advantage of the invention is that the stability of a vehicle combination can be improved, which in turn improves the road safety.
摘要翻译： 一种用于改善包括牵引车辆和至少一个牵引车辆的车辆组合的稳定性的装置，其中所述至少一个牵引车辆包括至少一个主动转向车轴和/或至少一个车轴上的单个制动器，其中牵引车辆和 所述至少一个牵引车辆各自包括横摆速率确定装置，用于确定所述车辆和所述至少一个牵引车辆的横摆率，其中所述装置还包括车辆组合模型，所述车辆组合模型适于确定所述车辆的横摆率 牵引车辆和所述至少一个牵引车辆的横摆率，其中所述装置适于通过使用所确定的所述牵引车辆的横摆角速度和所述至少一个牵引车辆的期望延迟值来稳定所述至少一个牵引车辆 为所述至少一个牵引车辆建立期望的偏航率，并且控制所述至少一个牵引车辆的转向轴和/或单独制动器 e，使得所确定的所述至少一个牵引车辆的横摆率对应于所述至少一个牵引车辆的期望横摆角速度。 可以估计或测量偏航率。 本发明的优点在于可以提高车辆组合的稳定性，从而提高道路安全性。
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公开(公告)号：WO1986001466A1
公开(公告)日：1986-03-13
申请号：PCT/SE1985000318
申请日：1985-08-27
申请人： KALMAR LAGAB AB , HENRIKSSON, Arne , JÖNSSON, Rune
发明人： KALMAR LAGAB AB
IPC分类号： B60D01/00
摘要： A coupling arrangement between a towing vehicle (1) and a trailer vehicle (17) includes a towing device (2, 10) which is connected to the towing vehicle. The towing device is provided with a towing member (10) arranged to engage a curved abutment surface (20) on the trailer vehicle. The abutment surface comprises two circular-arcuate edge sections (20a, 20b) located on engagement means (21). The towing member comprises two rolling, or non-rolling towing elements, for example in the form of runners (11, 12) which are arranged to be urged against the curved abutment surface (20) under the action of the force-generating means (5, 6 and 140 respectively). When the towing vehicle turns from a straight forward movement direction, the towing elements (11, 12) move along each of the circular-arcuate edge sections (20a, 20b) from a first position (Fig. 3), in which the two towing elements are located on a respective one of the circular-arcuate edge sections, to a second position (Fig. 4), in which both of the towing elements are located on the same edge section. The towing elements (11, 12) are either supported by an individual respective holder (110a, 110b), or by a common holder (10).
摘要翻译： 牵引车辆（1）和拖车（17）之间的联接装置包括连接到牵引车辆的牵引装置（2,10）。 牵引装置设置有一个牵引构件（10），该牵引构件设置成与拖车上的弯曲邻接表面（20）接合。 邻接表面包括位于接合装置（21）上的两个圆弧形边缘部分（20a，20b）。 拖曳构件包括两个滚动或非滚动牵引元件，例如以流体（11,12）的形式，其被布置成在力产生装置的作用下被推靠在弯曲的邻接表面（20）上（ 5，6和140）。 当牵引车辆从直向前移动方向转动时，牵引元件（11,12）从第一位置（图3）沿着每个圆弧形边缘部分（20a，20b）移动，其中两个牵引 元件位于相应的一个圆弧形边缘部分上，到达第二位置（图4），其中两个牵引元件位于同一边缘部分上。 牵引元件（11,12）由单独的保持器（110a，110b）或公共保持器（10）支撑。
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公开(公告)号：WO2015054846A1
公开(公告)日：2015-04-23
申请号：PCT/CN2013/085325
申请日：2013-10-16
申请人： 台湾立凯绿能移动股份有限公司
CPC分类号： B62D13/005 , B60D5/00 , B62D13/00 , B62D47/025
摘要： 一种铰接巴士用的马达辅助接头系统，用以改善铰接巴士于驾驶时的机动性与安全性；其中，马达辅助接头系统运作于一主动减震模式程序中，该模式利用一安装有扁平马达的铰接接头，并根据车辆速度来对接头产生一计算过的高敏感的减震力道和产生一反向的阻力来抵销车辆的惯性，以应对转向过度或打滑的事件的发生，进而增进铰接巴士于驾驶时各方面的能力。
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公开(公告)号：WO2015010671A1
公开(公告)日：2015-01-29
申请号：PCT/DE2014000331
申请日：2014-07-01
申请人： HILKEN FRIEDHELM
发明人： HILKEN FRIEDHELM
摘要： The invention relates to a trailing axle (10, 85, 90) having a forced steering system (20), comprising at least one unit (15) for controlling the forced steering system (20) and at least one unit (40, 40') for detecting the angle between a trailer (50) associated with the trailing axle (10) and a tractor (45) or an additional trailer, and a trailer corresponding thereto. According to the invention, the at least one unit (40, 40') for detecting the angle detects the angle between the trailer (50) and the tractor (45) or the additional trailer without contact and provides the detected angle to the unit (15) for controlling the forced steering system (20).
摘要翻译： 本发明涉及的后轮轴（10，85，90）与动力转向装置（20），包括至少一个单元（15）用于控制所述动力转向装置（20），至少一个单元（40,40“），用于检测所述从动轴之间的角度 （10）与所述拖车（50）和一个牵引器（45）或另外的拖车和与其对应的预告片相关联。 根据本发明，提出的是，至少一个单元（40,40“），用于检测所述角（45）而没有接触的措施的角度拖车（50）和拖拉机或进一步拖车之间（该单元（15）的检测到的角度用于控制所述强制转向 20）提供。
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公开(公告)号：WO2013149061A1
公开(公告)日：2013-10-03
申请号：PCT/US2013/034449
申请日：2013-03-28
发明人： ORGERON, Keith, J.
CPC分类号： B62D12/00 , B62D13/00 , B62D13/025
摘要： The present invention relates to a mechanically steered articulating dolly transport system for transporting large structures such as a drilling mast over the federal highway system. Generally, the invention relates to an articulating dolly system that utilizes a unique mechanical system for steering a first dolly with a path generated by the movement of the load held by the second dolly. More particularly, the invention provides a front dolly steered by a non-rotatable front steering frame, a rear dolly having a pivotally mounted turntable and a pair of steering links connected between the respective sides of the front steering frame and the turntable. The left steering link and the right steering link are located in a first plane. One or both of the turntable and the steering frame being located on a second plane that is not the first plane. Moment forces generated between plane one and plane two elastically deform one or both of the steering frame and the turntable to permit the transport system to make a left-hand or right-hand turn.
摘要翻译： 本发明涉及一种用于在联邦公路系统上运输诸如钻桅杆的大型结构的机械转向铰接式小车输送系统。 通常，本发明涉及一种铰接小车系统，其利用独特的机械系统来将第一台车转向由由第二台车保持的负载的运动产生的路径。 更具体地说，本发明提供了一种通过不可转动的前转向架前轮，前后转向架具有枢转安装的转台和连接在前转向架的各侧和转盘之间的一对转向连杆。 左转向链路和右转向链路位于第一平面中。 转盘和转向架中的一个或两个位于不是第一平面的第二平面上。 在平面1和平面2之间产生的力矩使转向架和转台中的一个或两个弹性变形，以允许运输系统进行左转或右转。
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公开(公告)号：WO2013066216A1
公开(公告)日：2013-05-10
申请号：PCT/SE2011/000194
申请日：2011-10-31
IPC分类号： B60W30/02 , B60W40/109 , B60T8/1755 , B60W40/114 , B62D53/00
CPC分类号： B60W40/114 , B60T8/1708 , B60T8/1755 , B60T2230/06 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/18163 , B60W40/13 , B60W2040/1346 , B60W2520/14 , B60Y2200/148 , B62D13/00
摘要： An arrangement for improving stability of a vehicle combination comprising a towing vehicle and at least one towed vehicle, where the at least one towed vehicle comprises at least one actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a lateral acceleration determining means for determining the lateral acceleration of the vehicle and the at least one towed vehicle, where the arrangement further comprises a vehicle combination model adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, where the arrangement is adapted to stabilise the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired lateral acceleration for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the desired lateral acceleration of the at least one towed vehicle. The lateral acceleration may be estimated or measured. The advantage of the invention is that the stability of a vehicle combination can be improved, which in turn improves the road safety.
摘要翻译： 一种用于改善包括牵引车辆和至少一个牵引车辆的车辆组合的稳定性的装置，其中所述至少一个牵引车辆包括至少一个主动转向车轴和/或至少一个轴上的单个制动器，其中牵引车辆和 所述至少一个牵引车辆各自包括用于确定所述车辆和所述至少一个牵引车辆的横向加速度的横向加速度确定装置，其中所述装置还包括车辆组合模型，所述车辆组合模型适于确定所述车辆的横向加速度 所述牵引车辆和所述至少一个牵引车辆的横向加速度，其中所述装置适于通过使用所确定的所述牵引车辆的横向加速度和所述至少一个牵引车辆的期望延迟值来稳定所述至少一个牵引车辆 以建立所述至少一个牵引车辆的期望的横向加速度，并且控制所述车辆 所述至少一个拖车的车轮和/或单个制动器使得所确定的至少一个牵引车辆的横向加速度对应于所述至少一个牵引车辆的期望的横向加速度。 可以估计或测量横向加速度。 本发明的优点在于可以提高车辆组合的稳定性，从而提高道路安全性。
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公开(公告)号：WO2012095615A1
公开(公告)日：2012-07-19
申请号：PCT/FR2012/050088
申请日：2012-01-13
申请人： ECOLE NATIONALE SUPERIEURE DES TECHNIQUES INDUSTRIELLES ET DES MINES DE NANTES , CHEVREL, Philippe , CLAVEAU, Fabien
发明人： CHEVREL, Philippe , CLAVEAU, Fabien
IPC分类号： B62D59/04
CPC分类号： B62D59/04 , B60D1/248 , B60K1/04 , B60K7/0007 , B60K2001/0444 , B60K2007/0046 , B60K2007/0092 , B60Q1/305 , B60Q1/44 , B60T8/248 , B60Y2200/147 , B62D11/001 , B62D13/00
摘要： L'invention concerne un engin roulant (1 ) apte à être tracté par des moyens tracteurs. Selon l'invention, led it engin roulant comprend des moyens de mesure d'effort (2) configurés pour mesurer, à l'état attelé de l'engin (1 ) aux moyens tracteurs, au moins un signal représentatif de l'effort, appelé effort longitudinal (F1 ), exercé par le véhicule sur l'engin roulant (1 ) ou inversement, suivant une direction parallèle à l'axe longitudinal de l'engin, des moyens de motorisation (5), des moyens de freinage (5, 12), et des moyens de commande configurés pour, en fonction dudit effort longitudinal (F1 ) mesuré par lesdits moyens de mesure d'effort (2), commander lesdits moyens de motorisation (5), ou respectivement les moyens de freinage (5, 12), de manière à appliquer à au moins l'u ne des roues (6) de l'engin roulant (1 ) une accélération, ou respectivement un freinage, permettant de réduire ledit effort longitudinal (F1 ).
摘要翻译： 本发明涉及一种适于被牵引装置牵引的轮式车辆（1）。 根据本发明，所述轮式车辆包括用于测量力（2）的装置，其被配置成在车辆（1）与牵引装置相连的状态下测量代表所谓的 由车辆在车辆（1）上施加的纵向力（F1），反之亦然，在平行于车辆的纵向轴线的方向上，驱动装置（5），制动装置（5,12）和 控制装置，被配置为根据由所述测量力（2）的装置测量的所述纵向力（F1）来控制所述驱动装置（5）或制动装置（5,12），以便应用于至少一个 （1）的车轮（6）分别形成加速度或制动力，从而能够减小所述纵向力（F1）。
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