• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A vehicle with a tetrahedral chassis (1) has a rotatable axle (5, 9) at all vertices of the tetrahedron. At each vertex of an equilateral triangle of the tetrahedron a wheel (6) is attached to the rotatable axis. At the fourth corner point, a load, for example a driver's seat, is arranged on its rotatable axle (9). All four axes of rotation are synchronized by means of a control drive and a cardan drive about its axis, wherein the three wheels (6) are movable by a drive and a gear around its wheel axis. The vehicle according to the invention has the advantage that it requires no differential, is extremely stable, is manoeuvrable in a small space and can also be used on steep or uneven terrain. The synchronized rotatable axes of rotation (5) of the wheels (6) a ride from any position and in any direction is possible. The driver's seat is always aligned in the direction of travel of the vehicle, so that a driver experiences no centrifugal forces and no dizziness. The vehicle can be accelerated and decelerated along a spiral line in a small space.
    公开号:CH710098A2
    申请号:CH01388/14
    申请日:2014-09-15
    公开日:2016-03-15
    发明作者:Andreas Killer
    申请人:Andreas Killer；
    IPC主号:
    专利说明:

    Technical area
    The invention relates to a vehicle with tetrahedral chassis.
    State of the art
    A vehicle with a tetrahedral chassis is known for example from US 3,395,664. There is described a wind-driven vehicle with a tetrahedral frame, at its highest corner a mast for a sail and at each of the three other vertices a float is attached with a rudder. Between two of these three floats a seat for a driver is arranged. Two of these rudders are connected by a pole, so that the vehicle is controlled by the driver by the position of both rudders is changed together. The device is characterized by its high stability due to the tetrahedron, especially during a fast ride, as well as easy maneuverability. The rudders can also be replaced by wheels.
    Description of the invention
    The invention has the task of creating a vehicle with high stability and maneuverability.
    It is disclosed a vehicle with a tetrahedral chassis, which according to the invention in each case has a rotatable axis at all four corners of the tetrahedron, wherein all axes of rotation parallel to each other. At three corners of the tetrahedral chassis a means of locomotion is in each case attached to the rotatable axis. At the fourth corner point, a device for a load suspension is arranged on its rotatable axle. All four axes of rotation are synchronized about its axis, wherein the three means of locomotion are also synchronized wegbewegbar by a drive.
    In one embodiment of the invention, the vehicle for the purpose of synchronized controllability of the axes of rotation on propeller drives.
    In an alternative embodiment of the invention, the vehicle for the purpose of synchronized controllability of the four axes of rotation on a chain drive.
    In a further embodiment of the invention, the vehicle has a control motor for driving the cardan drives or the chain drive.
    In one embodiment of the invention, wheels are each arranged by means of a suspension on the three axes of rotation at the three corners of the tetrahedral chassis, which are each rotatably synchronized about the axis of their suspension.
    In a further embodiment, the vehicle has a drive motor and a transmission for the synchronized movement of the wheels about their wheel axle.
    In a further embodiment of the invention, the vehicle has a disc brake.
    In one embodiment of the invention, the vehicle for the purpose of driving the wheels on each wheel on a hub motor or an electric stepper motor. The hub motors or the electric stepper motors are connected to a control unit for their synchronization.
    In an exemplary embodiment of the invention, a driver's seat for a person or a device for fixing an object is arranged on the axis of rotation at the fourth corner of the tetrahedron.
    In the inventive vehicle, the three axes of rotation for the means of locomotion and the axis of rotation for the load bearing, for example by means of a control motor are rotatable about its axis synchronously. Due to the all-round rotatable axes of the means of transport and the load suspension, a ride from any position and in any direction is possible. Thus, all axes of rotation can be rotated simultaneously, at the same speed and to the same extent about their axis, for example vertical axis. At standstill and while driving synchronized rotation all means of transport and the load device are always directed in the same direction. When driving along a curved line, the orientation of all means of transportation and load pick-up is changed continuously and synchronously. The means of locomotion thus always remain the same orientation, so that the radius of curvature for all wheels is the same and no differential is necessary.
    The device for load-bearing, such as the driver's seat or the holder for an object are also always the same as the means of transport aligned. The inventive vehicle thus allows for the driver or the object always directed forward. If the vehicle is controlled along a curve, the driver is always directed along the tangent of the curve. The driver or the object thus experiences at no time centrifugal forces. As a result, the ride is extremely stable and quiet. In addition, the driver experiences no vertigo even in a winding or spiral ride.
    The vehicle can be driven spirally to its deceleration or acceleration. This allows a deceleration in a small space. The driver experiences a force to the rear and is pressed into the seat back. He does not fall forward, as is the case with the braking of conventional vehicles; He also does not fall laterally outwards. The force towards the rear results from the spiral-shaped route with the constantly decreasing radius of the circle and the associated centripetal force which constantly adjusts in its direction.
    The vehicle has an extremely high stability, which is based on the one hand, the tetrahedral shape of the frame, on the other hand on the synchronized controlled rotation of the means of locomotion and the axis of rotation for the load suspension.
    Thanks to its high stability, the vehicle is suitable for driving in flat and hilly and uneven, especially steep terrain. While the execution of the wheeled vehicle is most suitable for most applications, other means of transportation such as jets for movement in the water are also conceivable.
    Due to the individual but synchronized controllability of the wheels, the vehicle is very maneuverable by being able to turn in the smallest space. Therefore, it is particularly suitable for wheelchairs, especially self-operated wheelchairs. However, the vehicle can also be used to pick up an object such as a measuring or searching device which, thanks to its maneuverability, can be used in confined spaces. Since the vehicle can drive on very steep terrain without tilting thanks to its stability, it can also be used in special situations such as pressure studs.
    Further advantages of the invention will become apparent from the following description in which the invention with reference to an embodiment shown in the schematic drawings is explained in more detail.
    Brief description of the figures
    [0020]<Tb> FIG. 1 <SEP> shows a schematic representation in perspective of the tetrahedral vehicle according to the invention.<Tb> FIG. 2 <SEP> is a schematic plan view of the vehicle of FIG. 1.<Tb> FIG. 3 <SEP> shows a schematic side view of a vehicle according to the invention. Referring to the illustration in FIG. 1, it corresponds to the view according to the arrow indicator III in FIG. 1.<Tb> FIG. 4 <SEP> shows a further schematic side view of the vehicle according to the invention. Referring to the illustration in Fig. 1, it corresponds to the view according to the arrow display IV in Fig. 1st
    In the figures, the same reference numerals have been used for the same elements and first explanations relate to all figures, unless expressly stated otherwise.
    Embodiments of the invention
    In the Fig. 1, an example of a vehicle according to the invention in the execution of a vehicle with wheels is shown. It has a chassis 1 in the shape of a tetrahedron with an equilateral triangle with sides 2, 3 and 4, which is horizontal in the position shown. At each corner of the triangle 2, 3, 4 wheel suspensions are arranged with axes of rotation 5, to which a wheel 6 is attached. By synchronized controlled rotation of these wheel suspensions about axes of rotation 5 according to the arrows about the axis 5, the wheels are aligned synchronized. About the triangle 2, 3, 4 is arranged on three rods 8 of the fourth corner point with the fourth axis of rotation 9 and a load bearing 10. Here, for example, a driver's seat or a platform for an object with fasteners may be arranged. By the synchronized controlled rotation of the rotation axis 9, the driver's seat or attachment for an object synchronized with the axes of rotation 5 of the suspensions of the wheels 6 is always aligned the same.
    The tetrahedron of the frame 1 can be uniform, i. E. be equilateral on all four sides by the rods 8 are equal in length as the sides of the triangle 2, 3, 4. The tetrahedron may also be uneven. For example, depending on the application, the rods 8 may also be shorter or longer, so that the load bearing and thus the driver's seat is lower or higher. The load bearing can for example also be at the same height as the rods 2, 3, 4. In the example shown, the fourth corner 10 is arranged only slightly above the triangle 2, 3, 4. A driver's seat in this position is then easier to climb. At the same time, the center of gravity of the vehicle comes to lie deeper.
    Fig. 2 shows in the plan view of the inventive vehicle, the load bearing 10 with axis of rotation 9 and three cardan drives with cardan shafts 12, which along the (shown in FIG. 1 and not shown in FIG. 2) rods 8 extend. They lead from the fulcrum 9 to the three vertices of the equilateral triangle of the tetrahedron 1, wherein at each of the three vertices respectively the vertically extending axis of rotation 5 is arranged. There are in particular an exemplary arrangement of a control motor 11 for the synchronized control and rotation of the four axes of rotation 5, 9 and a drive motor 14 for the movement of the wheels, in this embodiment, the rotation of the wheels 6 about its wheel axis 7. In addition, the embodiment shown of the vehicle, a disc brake 15 for the deceleration of the rotation of the wheels 6 about their wheel axle 7. The control motor 11 and the drive motor 14 are mounted on a plate 13. The rods 2, 3, 4 of FIG. 1 (not shown in this FIG. 2) may extend above or below the plate 13. If a driver's seat is on the load receiver, a driver can, from the sitting position, actuate the control motor 11, either directly or via a control unit connected to the engine. Alternatively, the control motor 11 can also be remotely controlled.
    Under the plate 13, and therefore not shown, are the rods 2, 3, 4 of the equilateral triangle, at the corners of the wheels 6 are arranged by means of a suspension with axis of rotation 5. The axes of rotation 5 of the synchronously rotatable wheels 6 extend vertically through the plate thirteenth
    Alternatively, the synchronized rotation of the axes of the wheels 6 and the load bearing 10 can be realized about axes of rotation 5 and 9 also by a chain drive. For this purpose, a chain leads from a first corner point of the triangle 2, 3, 4 along side 2 to the next corner point, along side 3 to the next corner point, from there along a bar 8 to the fourth corner point 9 of the tetrahedron and from there along a further bar 8 again to the first corner. In the fourth corner 9, the chain is guided over three gears, so that the direction of rotation of the fourth axis of rotation 9 is opposite to the direction of rotation of the axes of rotation 5. The rotation of the four axes 5, 9 about their axis is in turn realized by a control motor.
    In Fig. 3, an embodiment of the synchronized drive and the synchronized control by means of a cardan operation is shown in the side view of the inventive vehicle of FIG. 1 and 2 in particular. In this case, the drive of the three wheels 6, that is, their movement, by elements 20-28 and the synchronized control and rotation of the wheels 6, i. their orientation and rotation about the axis of their suspension, and the load bearing 10 represented by elements 30-34.
    The drive of the wheels is realized by the drive motor 14, as shown in Fig. 2, which drives a first gear 20. The torque of this gear 20 is via a bevel gear 21 to three propeller shafts 12 which lead to all three wheels 6 as shown in Fig. 2, wherein in the side view of Fig. 3, only two cardan shafts 12 can be seen. From the propeller shafts 12, the torque is transmitted via a further bevel gear 22 to a spur gear 23. The spur gear 23 rotates a shaft 24 on which a further spur gear 25 is mounted. The torque is transmitted from the spur gear 25 via a further spur gear 25 as shown in the view of FIG. 4 to a further shaft 26 with bevel gear 27. From there, it is further transmitted to a spur gear 28 which is mounted on the wheel axle 7 of the wheel 6, whereby the wheel 6 is set in motion about its wheel axle 7.
    The synchronized control of the wheels 6 and the load bearing will be explained with reference to FIGS. 3 and 4 on. The control shown in this example includes the elements indicated by reference numerals 30-34. The control motor 14 as shown in Fig. 2 drives a second gear 30, which is arranged below the first gear 20 and is fixedly connected to the axis of rotation 9 with the load bearing 10. The torque of the second gear 30 is transmitted to the wheels by means of three Cardan drives with cardan shafts 12 as shown in FIG. Again, in the side view of Fig. 3 and 4, only two of the three cardan shafts 12 can be seen. For this purpose, first the torque of the second gear 30 is transmitted to a bevel gear 31, the propeller shaft 12 and another bevel gear 32 to a spur gear 33. The torque of the spur gear 33 is transmitted via a shaft with rotation axis 5 to the wheel suspension 34 for the wheel 6, whereby the wheel 6 is rotated about the vertical axis 5 of the suspension 34.
    By the control motor 11 and the second gear 30, all three wheels are synchronized about their axes of rotation 5 rotatable. Similarly, the rotation of the load bearing 10 is realized about its axis of rotation 9 by the control motor 11 and via the second gear 30 synchronized with the rotation of the wheels 6 about axes 5.
    In an alternative embodiment, all three wheels 6 are each equipped with an individual electric drive, a hub motor or an electric stepper motor. The synchronization can be realized for example by means of a central control, wherein the individual drives are connected via lines or via radio to the central controller. Both the synchronized alignment of the wheels and the load bearing as well as the synchronized rotation of the wheels about their wheel axles can be realized in this way.
    LIST OF REFERENCE NUMBERS
    [0032]<tb> 1 <SEP> Tetrahedral frame<Tb> 2 <September> triangle point<Tb> 3 <September> triangle point<Tb> 4 <September> triangle point<Tb> 5 <September> axis of rotation<Tb> 6 <September> wheel<Tb> 7 <September> axle<tb> 8 <SEP> rods to fourth corner point<Tb> 9 <September> axis of rotation<Tb> 10 <September> lifting<tb> 11 <SEP> Cardan drive control motor<Tb> 12 <September> Kardanantrieb<Tb> 13 <September> Plate<Tb> 14 <September> drive motor<Tb> 15 <September> Disc Brakes<Tb> 16 <September> -<Tb> 17 <September> -<Tb> 18 <September> -<Tb> 19 <September> -<Tb> 20 <September> drive gear<Tb> 21 <September> bevel<Tb> 22 <September> bevel<Tb> 23 <September> spur<Tb> 24 <September> wave<Tb> 25 <September> spur<tb> 25 <SEP> spur gear<Tb> 26 <September> wave<Tb> 27 <September> bevel<Tb> 28 <September> spur<tb> 28, 29 <SEP> -<Tb> 30 <September> Gear<Tb> 31 <September> bevel<Tb> 32 <September> bevel<Tb> 33 <September> spur<Tb> 34 <September> suspension
    权利要求:
    Claims (10)
    [1]
    1. vehicle having a tetrahedral chassis (1) having at each of the four vertices of the tetrahedron each having a rotatable axis (5, 9), wherein all four axes of rotation parallel to each other, and being at three vertices of the tetrahedral chassis (1) to each whose rotatable axle (5) a means of transport (6) is fixed, and at the fourth corner on its rotatable axis (9) a device for a load-bearing (10) is arranged, and all four axes of rotation (5, 9) synchronized about its axis are, wherein the three means of transport (6) synchronized by a drive (14) are movable away.
    [2]
    2. Vehicle according to claim 1, characterized in that the vehicle for the purpose of synchronized controllability of the axes of rotation (5) has cardan drives (12).
    [3]
    3. Vehicle according to claim 1, characterized in that the vehicle for the purpose of synchronized controllability of the four axes of rotation (5, 9) has a chain drive.
    [4]
    4. Vehicle according to claim 2 or 3, characterized in that the vehicle has a control motor (11) for driving the cardan drives (12) or the chain drive.
    [5]
    5. Vehicle according to one of the preceding claims 1-4, characterized in that at the three axes of rotation (5) at the three corners of the tetrahedral chassis (1) each wheels (6) by means of a suspension (34) are arranged, synchronized in each case to the axle (5) of its suspension (34) are rotatable.
    [6]
    6. Vehicle according to claim 5, characterized in that the vehicle has a drive motor (13) and a transmission for synchronized locomotion of the wheels (6) each about their wheel axle (7).
    [7]
    7. Vehicle according to claim 5, characterized in that the vehicle has a disc brake (15).
    [8]
    8. Vehicle according to claim 5, characterized in that the vehicle has on each wheel (6) for the purpose of their drive in each case a hub motor or an electric stepper motor.
    [9]
    9. Vehicle according to claim 8, characterized in that the hub motors or the electric stepper motors are connected to their synchronization with a control unit.
    [10]
    10. Vehicle according to claim 1, characterized in that the device for a load bearing (10) on the axis of rotation (9) at the fourth corner of the tetrahedron a driver's seat for a person or a device for fixing an object is arranged.
    类似技术:
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    DE102016217626A1|2018-03-15|Drive axle for a motor vehicle and method for operating a drive axle of a motor vehicle
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    同族专利:
    公开号 | 公开日
    EP2995536A2|2016-03-16|
    EP2995536A3|2016-05-25|
    CH710098B1|2018-05-31|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3016966A|1960-10-12|1962-01-16|Hansen Howard Clair|Omnidirectional drive system for land vehicles|
    US3395664A|1966-09-12|1968-08-06|Greenberg Lewis Anthony|Tetrahedron sailing vehicle|
    US4664213A|1983-09-26|1987-05-12|Lin Sheen T|All-direction changing mechanism plus a driving power transmission mechanism|
    JP4556831B2|2005-10-13|2010-10-06|トヨタ自動車株式会社|Traveling apparatus and control method thereof|
    AR075872A1|2010-03-17|2011-05-04|Ambrosino Danilo Ulises|STEERING MECHANISM FOR HIGH MANAGEMENT TRANSPORTATION VEHICLE.|
    US8757316B2|2010-06-11|2014-06-24|Osaka University|Trochoid drive system|
    US20160194042A1|2013-09-04|2016-07-07|Keith Schlee|Three-wheeled mobile robot|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CH01388/14A|CH710098B1|2014-09-15|2014-09-15|Vehicle with a tetrahedral chassis.|CH01388/14A| CH710098B1|2014-09-15|2014-09-15|Vehicle with a tetrahedral chassis.|
    EP15184396.8A| EP2995536A3|2014-09-15|2015-09-09|Vehicle with tetrahedron frame|
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