WO2009074752A2 - Machine with variable geometry axle - Google Patents
Machine with variable geometry axle Download PDFInfo
- Publication number
- WO2009074752A2 WO2009074752A2 PCT/FR2008/001363 FR2008001363W WO2009074752A2 WO 2009074752 A2 WO2009074752 A2 WO 2009074752A2 FR 2008001363 W FR2008001363 W FR 2008001363W WO 2009074752 A2 WO2009074752 A2 WO 2009074752A2
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- WIPO (PCT)
- Prior art keywords
- axle
- frame
- machine
- wheels
- machine according
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Classifications
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- 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
- B62K5/027—Motorcycles with three wheels
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- 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
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- 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
- B62K5/10—Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
Definitions
- the invention relates to a machine adapted to move on a floor, comprising at least two laterally opposed ground contact members, and carrying a tilting frame about a longitudinal axis corresponding substantially to the direction of movement of this machine.
- Such a machine corresponds for example to the three-wheeled scooter disclosed in the patent application EP1561612 in the name of Piaggio, which comprises a rear wheel and a front axle carrying two steered wheels.
- the invention proposes an alternative engine architecture comprising two lateral contact members on the ground such as wheels, notably offering improved road handling.
- the subject of the invention is a land vehicle, comprising a chassis with a longitudinal axis and wheels, at least one axle through which the chassis is connected to two wheels transversely spaced apart on either side of the axle. longitudinal, this axle constituting connection means by which a tilting of the frame about its longitudinal axis correspondingly tilts the wheels, characterized in that an inclination of the chassis translate the wheels in opposite horizontal directions, the wheel to which the chassis tilts then translating forward.
- the positions of the ground contact members relative to the vehicle frame vary according to the inclination of the frame, so that their positions adapt according to the curvature of the vehicle trajectory to improve road holding.
- the invention also relates to a machine as defined above, provided with an axle comprising at least two transversely movable crosspieces and two lateral supports each intended to be secured to a wheel, each lateral support being articulated on one end of a crossbar, each crosspiece having its central portion hinged to the frame, the cross members forming with the lateral supports a variable geometry variable geometry axle of the deformable type, and wherein the axle is arranged to deform parallel to a transverse plane having an orientation corresponding to that of a rising slope with respect to the direction of advancement of the machine.
- the invention also relates to a machine as defined above, comprising an axle including a central support on which are articulated sleepers, and wherein the central support is rigidly secured to the frame.
- the invention also relates to a machine as defined above, comprising a rear axle having its central support rigidly secured to a fixed part of the frame.
- the invention also relates to a machine as defined above, comprising a front axle having its central support rigidly secured to a directional mobile part of the chassis.
- the invention also relates to a machine as defined above, comprising an axle provided with a locking member that can be in a locked state prohibiting any deformation of the axle with variable geometry that team.
- the invention also relates to a machine as defined above, comprising a suspension system interposed between each lateral support and each wheel.
- FIG. 1 is a perspective view of the structure of a machine according to the invention.
- FIG. 2 is a perspective view of the rear axle of the machine according to the invention shown alone;
- - Figure 3 is a perspective view of the front axle of the machine according to the invention shown alone;
- - Figure 4 is a rear view of the structure of the machine according to the invention when its frame is inclined;
- FIG. 5 is a top view of the structure of the machine according to the invention when its frame is inclined;
- FIG. 6 is a top view of the structure of the machine according to the invention when its direction is oriented obliquely while its rear axle is blocked.
- the vehicle according to the invention comprises a chassis 2 including a so-called fixed or rear part marked by 3, and a moving part or front part 4, corresponding to a steering column rigidly secured to a handlebar 6.
- a rear axle marked 7, carrying a right rear wheel 8 and a left rear wheel 9 is secured to the fixed rear portion 3 of the chassis.
- a front axle 11 carrying a right front wheel 12 and a left front wheel 13 is in turn maintained at the chassis by the movable front portion 4 of this frame.
- the rear frame 7 which is visible in more detail in FIG. 2 is of the articulated type. It comprises two lateral supports 14 and 15 intended to be secured to unrepresented wheels, as well as four crosspieces bearing the references 16 to 19, and a central support 21.
- the two lateral supports 14 and 15 are connected to one another. other by the four cross members 16-19 which are here bars extending parallel to each other occupying positions corresponding to four edges of a parallelepiped.
- Each end of the crossbar is hinged to a lateral support via a link of fixed pivot type, and each cross member is articulated on the central support 21 by another pivot connection.
- the pivot links are marked 16g-19g with respect to the left lateral support 14, 16d-19d with respect to the right lateral support 15, and 16c-19c with regard to the central support 21.
- the four pivot links of the central support are located at the vertices of a square situated in a longitudinal vertical plane. The same is true for the pivot connections of each lateral support.
- these twelve pivot links are oriented along parallel axes.
- these axes are oriented in such a way that, when viewed from the left, when the chassis of the vehicle they lie parallel to a vertical longitudinal plane of the vehicle by being inclined at +45 degrees to the longitudinal axis AL of vehi- cle.
- the rear axle 7 is thus deformable parallel to an inclined plane which is normal to the axes of these pivot links, that is to say with respect to a transverse plane inclined at +45 degrees with respect to a vertical plane extending transversely to the machine.
- This plane can still be defined as passing through the centers of two pivot links of the same cross beam of the axle while being inclined +45 degrees with respect to the vertical when seen from the left of the vehicle.
- the front axle 11 which is shown alone in FIG. 3 is also articulated, it has a general structure quite similar to that of the rear axle 7. It comprises two lateral supports 22 and 23 connected one to the other. other by four crosspieces marked 24-27 and a central support 28.
- the four cross members are articulated on the lateral supports and on the central support by pivot connections marked 24d-27d and 24g-27g with regard to the right and left supports, and by 24c-27c with regard to the central support 28.
- the axes of these twelve pivot links are parallel to each other.
- the front axle is secured to the steering column of the chassis 2, that is to say to its moving part before 4, by its central support 28, instead of being secured to a fixed part of the chassis as it is the case for the rear axle.
- This central support 28 is thus able to rotate about an axis indicated by AR in FIG. AR which coincides with the steering column 4, is inclined relative to the vertical of an angle called hunting angle.
- This hunting angle which is non-zero is the angle formed by the axis AR and a vertical axis intercepting the axis AR when the frame is straight, that is to say when it is inscribed in a longitudinal vertical plane.
- the steering column 4 is inclined towards the rear. In other words, in lateral view, the upper end of the column 4 is shifted toward the rear of the vehicle relative to the lower end of this column 4.
- the hunting angle has a value of the order from ten to fifteen degrees in the example of the figures. In practice, it appears that one can advantageously reduce the value of this hunting angle, or even cancel it to optimize the behavior.
- the assembly formed by the handlebar 6 and the steering column 4 constitutes the directional member of the frame 2.
- This assembly forms with the central support 28 a rigid assembly able to pivot about the oblique axis AR to orient the vehicle .
- the central support 28 is secured to the steering column 4, so that the angle between the axis of orientation of each pivot connection, the axis AR is +45 when the vehicle is seen from the left.
- the axes of the pivot links of the front axle 11 extend parallel to a vertical longitudinal plane of the vehicle by being inclined with respect to the longitudinal axis AL of a value corresponding to +45 degrees less the angle of hunting, this being valid when the frame is vertical while the handlebar 6 is right for the vehicle to follow a straight path.
- the front axle 11 is thus deformable parallel to a plane normal to the axes of its pivot connections, that is to say with respect to a transverse plane inclined with a value corresponding to +45 degrees less the hunting angle relative to to a vertical plane extending transversely with respect to the front axle, when the assembly is seen from the left.
- This inclined plane can still be defined as passing through two pivot connections of the same crossbar of the front axle while being inclined by a value corresponding to the hunting angle increased by +45 degrees relative to the horizontal, that is to say on the ground.
- At least one of the articulated axles is equipped with a locking member that can be in a locked state to make the axle dimensionally stable.
- the locking member of the rear axle 7 which is marked 29 in FIG. 3 comprises a deformable parallelogram including first and second so-called short links 31 and 32, opposite and parallel to each other, as well as a so-called long link 33.
- the two short links are located on either side of the central support 28, each having one end connected to the crossmember 16 by a pivot connection of the same orientation as the other pivot links constituting the axle, these two pivot links being equidistant. - aunts of the support 28.
- the long link 33 has its two ends respectively connected to the other ends of the short links, by pivot links of the same orientation as the other pivot links. It is linked by its center to the upper amount of the support 28, by a fifth pivot connection, of the same orientation.
- the assembly formed by the crosspiece 16, the rod 33 and the rods 31 and 32 constitutes a deformable parallelogram, located in the plane of the crosspieces 16 and 19, which deforms in the same manner as the entire axle 7 when it is stressed.
- the long link 33 carries a half braking disc, and the support 28 carries at its upper post a brake caliper, not visible in the figures, adapted to grip this half disc to make the set 16, 31, 32 indeformable. and 33, and thereby the axle 7.
- the front axle also comprises a locking member, identified by 36, similar to the locking member 29 of the rear axle, but which is mounted at the level of the front lower crossbar 25 of the axle instead of being mounted at the front upper cross member 16, as in the case of the rear axle.
- the half-brake disc that it comprises is gripped by the stirrup that it has, this which makes the corresponding axle geometrically indeformable.
- These locking members are advantageously locked when the vehicle is traveling at low speed, to lock the frame 2 in a vertical position, so as to avoid a large corner angle of the chassis of the machine, at low speed.
- This vehicle is a quadricycle is akin to a four-wheeled motorcycle, whose chassis is able to bow in turns. It can thus be provided with a motor driving transmission members to the wheels that can be integrated in the space delimited by the crosspieces of the rear axle, and / or the front axle. Each wheel is secured to a lateral support, for example by means of a suspension system not shown in the figures.
- front axle and the rear axle are deformable parallelograms in oblique planes, they allow a lateral inclination of the chassis 2, ie a rotation of this chassis around the axis AL, which substantially coincides with the tangent to the trajectory of the vehicle at a given moment.
- This inclination of the chassis causes an equivalent inclination of the wheels relative to the vertical, which thus remain parallel to the plane of the frame, while being maintained both in contact with the ground.
- the front wheels are inclined relative to the vertical, while having a direction conditioned by the orientation given to the handlebar 6 of the machine.
- the wheel on the side towards which the chassis tilts is translated towards the front of the vehicle, while the wheel on the opposite side is translated towards the rear. of the machine.
- each axle is a deformable parallelogram which is mounted on the frame so as to deform parallel to an oblique plane relative to the ground.
- the front wheels are translated similarly to the rear wheels, when the chassis tilts, the wheel to which the chassis then translates forward, and the opposite wheel then translating backward, as shown in Figure 5.
- the chassis tilts towards the inside of the bend, just like that of a motorcycle, and taking into account the variable geometry of the axles, this inclination translates the inner wheels to the bend towards the bend. the front, and the outer wheels to the bend towards the rear of the machine. This translation of the wheels increases the distance separating the most forward wheel from the center of gravity of the machine, as well as the distance separating the wheel furthest from the center of gravity of the machine.
- the axle lock also makes it easier to handle the machine at low speeds and at a standstill, giving it great maneuverability. Indeed, when one or the other of the axles is locked, the handlebar can be strongly rotate to benefit from a very small turning radius, without risk of falling since the chassis is then kept straight. The user of the machine can then for example sneak easily between cars in use in the city, enjoying a very small turning radius, without risking a large corner angle as would be the case with a motorcycle.
- FIG. 6 the rear locking device is locked, so that the chassis occupies a straight position, ie vertical whatever the orientation given to its handlebar 6.
- one or the other or both locking members can be locked when the corresponding parallelogram is in an upright position, not deformed, to park the vehicle without having to use a stand, as in the case of a motorcycle.
- the invention finds applications to multiple types of gear.
- it is adapted to equip the front train of a snowmobile, the ground connection members then being skates or skis maintained by an axle of the same general architecture as the front axle indicated by 11 in the figures, this axle also being connected to a steering column of the snowmobile.
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Abstract
Description
Engin équipé d'un essieu à géométrie variable Machine equipped with a variable geometry axle
ARRIERE PLAN DE L'INVENTIONBACKGROUND OF THE INVENTION
L'invention concerne un engin apte à se dépla- cer sur un sol, comprenant au moins deux organes de contact au sol latéralement opposés, et portant un châssis inclinable autour d'un axe longitudinal correspondant sensiblement à la direction de déplacement de cet engin.The invention relates to a machine adapted to move on a floor, comprising at least two laterally opposed ground contact members, and carrying a tilting frame about a longitudinal axis corresponding substantially to the direction of movement of this machine.
ARRIERE PLAN DE L'INVENTION Un tel engin correspond par exemple au scooter à trois roues divulgué dans la demande de brevet EP1561612 au nom de Piaggio, qui comporte une roue arrière et un train avant portant deux roues directrices.BACKGROUND OF THE INVENTION Such a machine corresponds for example to the three-wheeled scooter disclosed in the patent application EP1561612 in the name of Piaggio, which comprises a rear wheel and a front axle carrying two steered wheels.
OBJET DE L'INVENTION L'invention propose une architecture alternative d'engin comprenant deux organes latéraux de contact au sol tels que des roues, offrant notamment un comportement routier amélioré.OBJECT OF THE INVENTION The invention proposes an alternative engine architecture comprising two lateral contact members on the ground such as wheels, notably offering improved road handling.
RESUME DE L'INVENTIONSUMMARY OF THE INVENTION
A cet effet, l'invention a pour objet un engin terrestre, comportant un châssis avec un axe longitudinal et des roues, au moins un essieu par lequel le châssis est relié à deux roues transversalement espacées de part et d'autre de l'axe longitudinal, cet essieu constituant des moyens de liaison par lesquels une inclinaison du châssis autour de son axe longitudinal incline de façon correspondante les roues, caractérisé en ce qu'une inclinaison du châssis translate les roues dans des directions horizontales opposées, la roue vers laquelle le châssis s'incline se translatant alors vers l'avant. Grâce à cette solution, les positions des organes de contact au sol par rapport au châssis du véhicule varient en fonction de l'inclinaison du châssis, de sorte que leurs positions s'adaptent en fonction de la courbure de la trajectoire du véhicule pour en améliorer la tenue de route .For this purpose, the subject of the invention is a land vehicle, comprising a chassis with a longitudinal axis and wheels, at least one axle through which the chassis is connected to two wheels transversely spaced apart on either side of the axle. longitudinal, this axle constituting connection means by which a tilting of the frame about its longitudinal axis correspondingly tilts the wheels, characterized in that an inclination of the chassis translate the wheels in opposite horizontal directions, the wheel to which the chassis tilts then translating forward. With this solution, the positions of the ground contact members relative to the vehicle frame vary according to the inclination of the frame, so that their positions adapt according to the curvature of the vehicle trajectory to improve road holding.
L'invention concerne également un engin tel que défini ci-dessus, pourvu d'un essieu comprenant au moins deux traverses mobiles transversalement et deux supports latéraux destinés chacun à être solidarisé à une roue, chaque support latéral étant articulé sur une extrémité d'une traverse, chaque traverse ayant sa partie centrale articulée par rapport au châssis, les traverses formant avec les supports latéraux un essieu à géométrie variable de type parallélogramme déformable, et dans lequel l'essieu est agencé pour se déformer parallèlement à un plan transversal ayant une orientation correspondant à celle d'une pente montante par rapport à la direction d'avancement de l'engin.The invention also relates to a machine as defined above, provided with an axle comprising at least two transversely movable crosspieces and two lateral supports each intended to be secured to a wheel, each lateral support being articulated on one end of a crossbar, each crosspiece having its central portion hinged to the frame, the cross members forming with the lateral supports a variable geometry variable geometry axle of the deformable type, and wherein the axle is arranged to deform parallel to a transverse plane having an orientation corresponding to that of a rising slope with respect to the direction of advancement of the machine.
L'invention concerne également un engin tel que défini ci-dessus, comprenant un essieu incluant un support central sur lequel sont articulées les traverses, et dans lequel ce support central est rigidement solidarisé au châssis.The invention also relates to a machine as defined above, comprising an axle including a central support on which are articulated sleepers, and wherein the central support is rigidly secured to the frame.
L' invention concerne également un engin tel que défini ci-dessus, comprenant un essieu arrière ayant son support central rigidement solidarisé à une partie fixe du châssis. L'invention concerne également un engin tel que défini ci-dessus, comprenant un essieu avant ayant son support central rigidement solidarisé à une partie mobile directionnelle du châssis. L'invention concerne également un engin tel que défini ci-dessus, comprenant un essieu pourvu d'un organe de blocage pouvant être dans un état verrouillé interdisant toute déformation de l'essieu à géométrie variable qu'il équipe.The invention also relates to a machine as defined above, comprising a rear axle having its central support rigidly secured to a fixed part of the frame. The invention also relates to a machine as defined above, comprising a front axle having its central support rigidly secured to a directional mobile part of the chassis. The invention also relates to a machine as defined above, comprising an axle provided with a locking member that can be in a locked state prohibiting any deformation of the axle with variable geometry that team.
L'invention concerne également un engin tel que défini ci-dessus, comprenant un système de suspension interposé entre chaque support latéral et chaque roue .The invention also relates to a machine as defined above, comprising a suspension system interposed between each lateral support and each wheel.
BREVE DESCRIPTION DES FIGURESBRIEF DESCRIPTION OF THE FIGURES
- la figure 1 est une vue en perspective de la structure d'un engin selon l'invention ;- Figure 1 is a perspective view of the structure of a machine according to the invention;
- la figure 2 est une vue en perspective de l'essieu arrière de l'engin selon l'invention représenté seul ;- Figure 2 is a perspective view of the rear axle of the machine according to the invention shown alone;
- la figure 3 est une vue en perspective de l'essieu avant de l'engin selon l'invention représenté seul ; - la figure 4 est une vue arrière de la structure de l'engin selon l'invention lorsque son châssis est incliné ;- Figure 3 is a perspective view of the front axle of the machine according to the invention shown alone; - Figure 4 is a rear view of the structure of the machine according to the invention when its frame is inclined;
- la figure 5 est une vue de dessus de la structure de l'engin selon l'invention lorsque son châssis est incliné ;- Figure 5 is a top view of the structure of the machine according to the invention when its frame is inclined;
- la figure 6 est une vue de dessus de la structure de l'engin selon l'invention lorsque sa direction est orientée de façon oblique alors que son essieu arrière est bloqué. DESCRIPTION DETAILLEE DE L'INVENTION- Figure 6 is a top view of the structure of the machine according to the invention when its direction is oriented obliquely while its rear axle is blocked. DETAILED DESCRIPTION OF THE INVENTION
Le véhicule selon l'invention, dont la structure est représentée dans la figure 1 en étant repérée par 1, comprend un châssis 2 incluant une partie dite fixe ou arrière repérée par 3 , et une partie mobile ou avant re- pérée par 4, correspondant à une colonne de direction rigidement solidaire d'un guidon 6.The vehicle according to the invention, the structure of which is represented in FIG. 1, being marked with 1, comprises a chassis 2 including a so-called fixed or rear part marked by 3, and a moving part or front part 4, corresponding to a steering column rigidly secured to a handlebar 6.
Un essieu arrière repéré par 7, portant une roue arrière droite 8 et une roue arrière gauche 9 est solida- risé à la partie arrière fixe 3 du châssis . Un essieu avant 11 portant une roue avant droite 12 et une roue avant gauche 13 est quant à lui maintenu au châssis par la partie avant mobile 4 de ce châssis.A rear axle marked 7, carrying a right rear wheel 8 and a left rear wheel 9 is secured to the fixed rear portion 3 of the chassis. A front axle 11 carrying a right front wheel 12 and a left front wheel 13 is in turn maintained at the chassis by the movable front portion 4 of this frame.
Le châssis arrière 7 qui est visible plus en dé- tails dans la figure 2 est du type articulé. Il comprend deux supports latéraux 14 et 15 destinés à être solidarisés à des roues non représentées, ainsi que quatre traverses portant les références 16 à 19, et un support central 21. Les deux supports latéraux 14 et 15 sont reliés l'un à l'autre par les quatre traverses 16-19 qui sont ici des barres s 'étendant parallèlement les unes aux autres en occupant des positions correspondant à quatre arêtes d'un parallélépipède. Chaque extrémité de traverse est articulée sur un support latéral via une liaison de type pivot fixe, et chaque traverse est articulée sur le support central 21 par une autre liaison pivot.The rear frame 7 which is visible in more detail in FIG. 2 is of the articulated type. It comprises two lateral supports 14 and 15 intended to be secured to unrepresented wheels, as well as four crosspieces bearing the references 16 to 19, and a central support 21. The two lateral supports 14 and 15 are connected to one another. other by the four cross members 16-19 which are here bars extending parallel to each other occupying positions corresponding to four edges of a parallelepiped. Each end of the crossbar is hinged to a lateral support via a link of fixed pivot type, and each cross member is articulated on the central support 21 by another pivot connection.
Les liaisons pivot sont repérées par 16g-19g en ce qui concerne le support latéral gauche 14, par 16d-19d en ce qui concerne le support latéral droit 15, et par 16c-19c en ce qui concerne le support central 21.The pivot links are marked 16g-19g with respect to the left lateral support 14, 16d-19d with respect to the right lateral support 15, and 16c-19c with regard to the central support 21.
Les quatre liaisons pivot du support central sont situées aux sommets d'un carré situé dans un plan verti- cal longitudinal. Il en va de même pour les liaisons pivot de chaque support latéral .The four pivot links of the central support are located at the vertices of a square situated in a longitudinal vertical plane. The same is true for the pivot connections of each lateral support.
Comme visible sur les figures, ces douze liaisons pivot sont orientées selon des axes parallèles. Dans l'exemple des figures, ces axes sont orientés de telle manière qu'en vue de gauche, lorsque le châssis du véhi- cule n'est pas incliné, c'est à dire lorsqu'il est situé dans un plan vertical, ils s'étendent parallèlement à un plan longitudinal vertical du véhicule en étant inclinés à +45 degrés par rapport à l'axe longitudinal AL du véhi- cule.As visible in the figures, these twelve pivot links are oriented along parallel axes. In the example of the figures, these axes are oriented in such a way that, when viewed from the left, when the chassis of the vehicle they lie parallel to a vertical longitudinal plane of the vehicle by being inclined at +45 degrees to the longitudinal axis AL of vehi- cle.
L'essieu arrière 7 est ainsi déformable parallèlement à un plan incliné qui est normal aux axes de ces liaisons pivot, c'est à dire par rapport à un plan transversal incliné à +45 degrés par rapport à un plan verti- cal s 'étendant transversalement par rapport à l'engin.The rear axle 7 is thus deformable parallel to an inclined plane which is normal to the axes of these pivot links, that is to say with respect to a transverse plane inclined at +45 degrees with respect to a vertical plane extending transversely to the machine.
Ce plan peut encore être défini comme passant par les centres de deux liaisons pivot d'une même traverse de l'essieu tout en étant incliné de +45 degrés par rapport à la verticale lorsqu'il est vu depuis la gauche du véhi- cule.This plane can still be defined as passing through the centers of two pivot links of the same cross beam of the axle while being inclined +45 degrees with respect to the vertical when seen from the left of the vehicle.
L'essieu avant 11 qui est représenté seul en figure 3 est lui aussi articulé, il a une structure générale tout à fait analogue à celle de l'essieu arrière 7. Il comprend deux supports latéraux 22 et 23 reliés l'un à l'autre par quatre traverses repérées par 24-27 et un support central 28.The front axle 11 which is shown alone in FIG. 3 is also articulated, it has a general structure quite similar to that of the rear axle 7. It comprises two lateral supports 22 and 23 connected one to the other. other by four crosspieces marked 24-27 and a central support 28.
Les quatre traverses sont articulées sur les supports latéraux et sur le support central par des liaisons pivot repérées par 24d-27d et 24g-27g en ce qui concerne les supports droit et gauche, et par 24c-27c en ce qui concerne le support central 28. Tout comme dans le cas de l'essieu arrière, les axes de ces douze liaisons pivot sont parallèles les uns aux autres.The four cross members are articulated on the lateral supports and on the central support by pivot connections marked 24d-27d and 24g-27g with regard to the right and left supports, and by 24c-27c with regard to the central support 28. Just as in the case of the rear axle, the axes of these twelve pivot links are parallel to each other.
L'essieu avant est solidarisé à la colonne de di- rection du châssis 2, c'est à dire à sa partie mobile avant 4, par son support central 28, au lieu d'être solidarisée à une partie fixe du châssis comme c'est le cas pour l'essieu arrière.The front axle is secured to the steering column of the chassis 2, that is to say to its moving part before 4, by its central support 28, instead of being secured to a fixed part of the chassis as it is the case for the rear axle.
Ce support central 28 est ainsi apte à tourner autour d'un axe repéré par AR dans la figure 1. Cet axe AR qui coïncide avec la colonne de direction 4, est incliné par rapport à la verticale d'un angle dit angle de chasse. Cet angle de chasse qui est non nul est l'angle formé par l'axe AR et un axe vertical interceptant l'axe AR lorsque le châssis est droit, c'est à dire lorsqu'il est inscrit dans un plan vertical longitudinal.This central support 28 is thus able to rotate about an axis indicated by AR in FIG. AR which coincides with the steering column 4, is inclined relative to the vertical of an angle called hunting angle. This hunting angle which is non-zero is the angle formed by the axis AR and a vertical axis intercepting the axis AR when the frame is straight, that is to say when it is inscribed in a longitudinal vertical plane.
Dans l'exemple illustré sur les figures, la colonne de direction 4 est inclinée vers l'arrière. En d'autres termes, en vue latérale, l'extrémité supérieure de la colonne 4 est décalée vers l'arrière du véhicule par rapport à l'extrémité inférieure de cette colonne 4. L'angle de chasse a une valeur de l'ordre de dix à quinze degrés dans l'exemple des figures. En pratique, il apparaît que l'on peut avantageusement réduire la valeur de cet angle de chasse, voire l'annuler pour optimiser le comportement .In the example illustrated in the figures, the steering column 4 is inclined towards the rear. In other words, in lateral view, the upper end of the column 4 is shifted toward the rear of the vehicle relative to the lower end of this column 4. The hunting angle has a value of the order from ten to fifteen degrees in the example of the figures. In practice, it appears that one can advantageously reduce the value of this hunting angle, or even cancel it to optimize the behavior.
L'ensemble formé par le guidon 6 et la colonne de direction 4 constitue l'organe directionnel du châssis 2. Cet ensemble forme avec le support central 28 un tout ri- gide apte à pivoter autour de l'axe oblique AR pour orienter le véhicule.The assembly formed by the handlebar 6 and the steering column 4 constitutes the directional member of the frame 2. This assembly forms with the central support 28 a rigid assembly able to pivot about the oblique axis AR to orient the vehicle .
Dans la structure représentée sur les figures, le support central 28 est solidarisé à la colonne de direction 4, de telle manière que l'angle séparant l'axe d'orientation de chaque liaison pivot, de l'axe AR vaut +45 lorsque le véhicule est vu depuis la gauche.In the structure shown in the figures, the central support 28 is secured to the steering column 4, so that the angle between the axis of orientation of each pivot connection, the axis AR is +45 when the vehicle is seen from the left.
Ainsi, les axes des liaisons pivot de l'essieu avant 11 s'étendent parallèlement à un plan longitudinal vertical du véhicule en étant inclinés par rapport à l'axe longitudinal AL d'une valeur correspondant à +45 degrés diminués de l'angle de chasse, ceci étant valable lorsque le châssis est vertical alors que le guidon 6 est droit pour que le véhicule suive une trajectoire rectili- gne. L'essieu avant 11 est ainsi déformable parallèlement à un plan normal aux axes de ses liaisons pivot, c'est à dire par rapport à un plan transversal incliné d'une valeur correspondant à +45 degrés diminués de l'angle de chasse par rapport à un plan vertical s 'étendant transversalement par rapport à l'essieu avant, lorsque l'ensemble est vu par la gauche.Thus, the axes of the pivot links of the front axle 11 extend parallel to a vertical longitudinal plane of the vehicle by being inclined with respect to the longitudinal axis AL of a value corresponding to +45 degrees less the angle of hunting, this being valid when the frame is vertical while the handlebar 6 is right for the vehicle to follow a straight path. The front axle 11 is thus deformable parallel to a plane normal to the axes of its pivot connections, that is to say with respect to a transverse plane inclined with a value corresponding to +45 degrees less the hunting angle relative to to a vertical plane extending transversely with respect to the front axle, when the assembly is seen from the left.
Ce plan incliné peut encore être défini comme passant par deux liaisons pivot d'une même traverse de l'essieu avant tout en étant incliné d'une valeur correspondant à l'angle de chasse augmentée de +45 degrés par rapport à l'horizontale, c'est à dire au sol.This inclined plane can still be defined as passing through two pivot connections of the same crossbar of the front axle while being inclined by a value corresponding to the hunting angle increased by +45 degrees relative to the horizontal, that is to say on the ground.
Afin de faciliter la manipulation de l'engin, notamment à basse vitesse, au moins l'un des essieux arti- culés est équipé d'un organe de blocage pouvant être dans un état verrouillé pour rendre l'essieu indéformable.In order to facilitate the handling of the machine, particularly at low speed, at least one of the articulated axles is equipped with a locking member that can be in a locked state to make the axle dimensionally stable.
L'organe de blocage de l'essieu arrière 7 qui est repéré par 29 dans la figure 3 comprend un parallélogramme déformable incluant une première et une seconde biellettes dites courtes 31 et 32, opposées et parallèles l'une à l'autre, ainsi qu'une biellette dite longue 33.The locking member of the rear axle 7 which is marked 29 in FIG. 3 comprises a deformable parallelogram including first and second so-called short links 31 and 32, opposite and parallel to each other, as well as a so-called long link 33.
Les deux biellettes courtes sont situées de part et d'autre du support central 28 en ayant chacune une extrémité liée à la traverse 16 par une liaison pivot de même orientation que les autres liaisons pivot constitutives de l'essieu, ces deux liaisons pivot étant équidis- tantes du support 28.The two short links are located on either side of the central support 28, each having one end connected to the crossmember 16 by a pivot connection of the same orientation as the other pivot links constituting the axle, these two pivot links being equidistant. - aunts of the support 28.
La biellette longue 33 a ses deux extrémités liées respectivement aux autres extrémités des biellettes courtes, par des liaisons pivot de même orientation que les autres liaisons pivot. Elle est liée par son centre au montant supérieur du support 28, par une cinquième liaison pivot, de même orientation.The long link 33 has its two ends respectively connected to the other ends of the short links, by pivot links of the same orientation as the other pivot links. It is linked by its center to the upper amount of the support 28, by a fifth pivot connection, of the same orientation.
Ainsi, l'ensemble constitué par la traverse 16, la biellette 33 et les biellettes 31 et 32 constitue un parallélogramme déformable, situé dans le plan des traverses 16 et 19, qui se déforme de la même manière que l'ensemble de l'essieu 7 lorsque celui-ci est sollicité.Thus, the assembly formed by the crosspiece 16, the rod 33 and the rods 31 and 32 constitutes a deformable parallelogram, located in the plane of the crosspieces 16 and 19, which deforms in the same manner as the entire axle 7 when it is stressed.
La biellette longue 33 porte un demi disque de freinage, et le support 28 porte au niveau de son montant supérieur un étrier de frein, non visible sur les figures, apte à enserrer ce demi disque pour rendre indéformable l'ensemble 16, 31, 32 et 33, et par là même l'essieu 7. L'essieu avant comprend lui aussi un organe de blocage, repéré par 36, analogue à l'organe de blocage 29 de l'essieu arrière, mais qui est monté au niveau de la traverse inférieure avant 25 de l'essieu au lieu d'être monté au niveau de la traverse supérieure avant 16, comme dans le cas de l'essieu arrière.The long link 33 carries a half braking disc, and the support 28 carries at its upper post a brake caliper, not visible in the figures, adapted to grip this half disc to make the set 16, 31, 32 indeformable. and 33, and thereby the axle 7. The front axle also comprises a locking member, identified by 36, similar to the locking member 29 of the rear axle, but which is mounted at the level of the front lower crossbar 25 of the axle instead of being mounted at the front upper cross member 16, as in the case of the rear axle.
Ainsi, lorsque l'organe de blocage de l'essieu avant ou de l'essieu arrière est piloté pour passer dans un état verrouillé, le demi-disque de frein qu'il comporte est enserré par l' étrier qu'il comporte, ce qui rend l'essieu correspondant géométriquement indéformable. Ces organes de blocage sont avantageusement verrouillés lorsque le véhicule roule à basse vitesse, pour bloquer le châssis 2 dans une position verticale, de manière à éviter une prise d'angle importante du châssis de l'engin, à basse vitesse.Thus, when the locking member of the front axle or the rear axle is controlled to go into a locked state, the half-brake disc that it comprises is gripped by the stirrup that it has, this which makes the corresponding axle geometrically indeformable. These locking members are advantageously locked when the vehicle is traveling at low speed, to lock the frame 2 in a vertical position, so as to avoid a large corner angle of the chassis of the machine, at low speed.
Ce véhicule est un quadricycle s ' apparentant à une moto à quatre roues, dont le châssis est apte à s'incliner dans les virages. Il peut ainsi être pourvu d'un moteur entraînant des organes de transmission aux roues pouvant être intégrés dans l'espace délimité par les traverses de l'essieu arrière, et/ou de l'essieu avant . Chaque roue est solidarisée à un support latéral, par exemple par l'intermédiaire d'un système de suspension non représenté dans les figures.This vehicle is a quadricycle is akin to a four-wheeled motorcycle, whose chassis is able to bow in turns. It can thus be provided with a motor driving transmission members to the wheels that can be integrated in the space delimited by the crosspieces of the rear axle, and / or the front axle. Each wheel is secured to a lateral support, for example by means of a suspension system not shown in the figures.
L'essieu avant comme l'essieu arrière étant des parallélogrammes déformables dans des plans obliques, ils autorisent une inclinaison latérale du châssis 2, c'est à dire une rotation de ce châssis autour de l'axe AL, qui coïncide sensiblement avec la tangente à la trajectoire du véhicule à un instant considéré. Cette inclinaison du châssis, du type roulis qui est représentée en figure 4, provoque une inclinaison équivalente des roues par rapport à la verticale, qui restent ainsi parallèles au plan du châssis, tout en étant maintenues toutes deux en contact avec le sol . Les roues avant s'inclinent quant à elles par rapport à la verticale, tout en ayant une orientation conditionnée par l'orientation donnée au guidon 6 de 1 ' engin.As the front axle and the rear axle are deformable parallelograms in oblique planes, they allow a lateral inclination of the chassis 2, ie a rotation of this chassis around the axis AL, which substantially coincides with the tangent to the trajectory of the vehicle at a given moment. This inclination of the chassis, the roll type shown in Figure 4, causes an equivalent inclination of the wheels relative to the vertical, which thus remain parallel to the plane of the frame, while being maintained both in contact with the ground. The front wheels are inclined relative to the vertical, while having a direction conditioned by the orientation given to the handlebar 6 of the machine.
Compte tenu de l'inclinaison du plan de déforma- tion du parallélogramme de l'essieu avant et de l'essieu arrière, l'inclinaison du châssis 2 provoque également une translation des roues de chaque essieu, ce qui apparaît clairement dans la vue de dessus de la figure 5.Taking into account the inclination of the plane of deformation of the parallelogram of the front axle and the rear axle, the inclination of the chassis 2 also causes a translation of the wheels of each axle, which appears clearly in the view of above of Figure 5.
Plus particulièrement, au niveau de l'essieu ar- rière, la roue située du côté vers lequel le châssis s'incline se translate vers l'avant du véhicule, alors que la roue située du côté opposé se translate en direction de l'arrière de l'engin.More particularly, at the rear axle, the wheel on the side towards which the chassis tilts is translated towards the front of the vehicle, while the wheel on the opposite side is translated towards the rear. of the machine.
Ces translations sensiblement longitudinales des roues sont provoquées par le fait que chaque essieu constitue un parallélogramme déformable qui est monté sur le châssis de manière à se déformer parallèlement à un plan oblique par rapport au sol.These substantially longitudinal translations of the wheels are caused by the fact that each axle is a deformable parallelogram which is mounted on the frame so as to deform parallel to an oblique plane relative to the ground.
Les roues avant se translatent de manière analo- gue aux roues arrières, lorsque le châssis s'incline, la roue vers laquelle s'incline le châssis se translatant alors vers l'avant, et la roue opposée se translatant alors vers l'arrière, comme visible dans la figure 5.The front wheels are translated similarly to the rear wheels, when the chassis tilts, the wheel to which the chassis then translates forward, and the opposite wheel then translating backward, as shown in Figure 5.
Concrètement, lorsque le véhicule prend un vi- rage, le châssis s'incline vers l'intérieur du virage, tout comme celui d'une moto, et compte tenu de la géométrie variable des essieux, cette inclinaison translate les roues intérieures au virage vers l'avant, et les roues extérieures au virage vers l'arrière de l'engin. Cette translation des roues augmente la distance séparant la roue la plus en avant du centre de gravité de l'engin, ainsi que la distance séparant la roue la plus en arrière du centre de gravité de l'engin.Specifically, when the vehicle takes a turn, the chassis tilts towards the inside of the bend, just like that of a motorcycle, and taking into account the variable geometry of the axles, this inclination translates the inner wheels to the bend towards the bend. the front, and the outer wheels to the bend towards the rear of the machine. This translation of the wheels increases the distance separating the most forward wheel from the center of gravity of the machine, as well as the distance separating the wheel furthest from the center of gravity of the machine.
L'accroissement de ces grandeurs améliore la te- nue de route en courbe puisqu'il augmente l'amplitude du couple appliqué par le sol au véhicule, ce qui facilite la tenue du véhicule dans les trajectoires courbes.The increase in these magnitudes improves the curvature of the road as it increases the amplitude of the torque applied by the ground to the vehicle, which facilitates the holding of the vehicle in the curved paths.
Le blocage des essieux permet en outre de faciliter la manipulation de l'engin aux basses vitesses et à l'arrêt en lui conférant une très grande maniabilité. En effet, lorsque l'un ou l'autre des essieux est verrouillé, le guidon peut être fortement tourner pour bénéficier d'un très faible rayon braquage, sans risque de chute puisque le châssis est alors maintenu droit. L'utilisateur de l'engin peut alors par exemple se faufiler facilement entre des voitures en utilisation en ville, en bénéficiant d'un rayon de braquage très faible, sans risquer une prise d'angle importante comme ce serait le cas avec une moto. Cette situation est représentée en figure 6 : l'organe de blocage arrière est verrouillé, de sorte que le châssis occupe une position droite, c'est à dire verticale quelle que soit l'orientation donnée à son guidon 6. Lorsque le véhicule est immobilisé, l'un, l'autre ou les deux organes de blocage peut être verrouillés lorsque le parallélogramme correspondant est en position droite, non déformé, pour garer le véhicule sans devoir utiliser une béquille, comme dans le cas d'une moto.The axle lock also makes it easier to handle the machine at low speeds and at a standstill, giving it great maneuverability. Indeed, when one or the other of the axles is locked, the handlebar can be strongly rotate to benefit from a very small turning radius, without risk of falling since the chassis is then kept straight. The user of the machine can then for example sneak easily between cars in use in the city, enjoying a very small turning radius, without risking a large corner angle as would be the case with a motorcycle. This situation is represented in FIG. 6: the rear locking device is locked, so that the chassis occupies a straight position, ie vertical whatever the orientation given to its handlebar 6. When the vehicle is immobilized, one or the other or both locking members can be locked when the corresponding parallelogram is in an upright position, not deformed, to park the vehicle without having to use a stand, as in the case of a motorcycle.
L'invention trouve des applications à de multiples types d'engins. En particulier elle est adaptée pour équiper le train avant d'une moto-neige, les organes de liaison au sol étant alors des patins ou skis maintenus par un essieu de même architecture générale que l'essieu avant repéré par 11 dans les figures, cet essieu étant aussi relié à une colonne de direction de la moto-neige.The invention finds applications to multiple types of gear. In particular, it is adapted to equip the front train of a snowmobile, the ground connection members then being skates or skis maintained by an axle of the same general architecture as the front axle indicated by 11 in the figures, this axle also being connected to a steering column of the snowmobile.
Elle est également adaptée à un scooter à trois roues, le train avant d'un tel scooter étant alors équipé d'un essieu du type à parallélogramme déformable incliné tel que l'essieu 11. It is also suitable for a three-wheeled scooter, the front axle of such a scooter then being equipped with an inclined deformable parallelogram type axle such as the axle 11.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0706890 | 2007-10-02 | ||
| FR0706890A FR2921628B1 (en) | 2007-10-02 | 2007-10-02 | EQUIPPED WITH A VARIABLE GEOMETRY AXLE |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2009074752A2 true WO2009074752A2 (en) | 2009-06-18 |
| WO2009074752A3 WO2009074752A3 (en) | 2009-08-20 |
Family
ID=39682670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/FR2008/001363 Ceased WO2009074752A2 (en) | 2007-10-02 | 2008-10-01 | Machine with variable geometry axle |
Country Status (2)
| Country | Link |
|---|---|
| FR (1) | FR2921628B1 (en) |
| WO (1) | WO2009074752A2 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9045015B2 (en) | 2013-03-07 | 2015-06-02 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9090281B2 (en) | 2013-03-07 | 2015-07-28 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9145168B2 (en) | 2013-03-07 | 2015-09-29 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9248857B2 (en) | 2013-03-07 | 2016-02-02 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9283989B2 (en) | 2013-03-07 | 2016-03-15 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9821620B2 (en) | 2014-09-01 | 2017-11-21 | Ford Technologies Corporation | Method for operating a tilting running gear and an active tilting running gear for a non-rail-borne vehicle |
| US9845129B2 (en) | 2014-08-29 | 2017-12-19 | Ford Global Technologies, Llc | Stabilizing arrangement for a tilting running gear of a vehicle and tilting running gear |
| US9925843B2 (en) | 2015-02-24 | 2018-03-27 | Ford Global Technologies, Llc | Rear suspension systems for laterally tiltable multitrack vehicles |
| US10023019B2 (en) | 2015-02-24 | 2018-07-17 | Ford Global Technologies, Llc | Rear suspension systems with rotary devices for laterally tiltable multitrack vehicles |
| US10076939B2 (en) | 2014-11-26 | 2018-09-18 | Ford Global Technologies, Llc | Suspension systems for laterally tiltable multitrack vehicles |
| IT201800002190A1 (en) * | 2018-01-30 | 2019-07-30 | Quadro Vehicles Sa | SUSPENSION MODULE FOR WHEELED VEHICLES / SUSPENSION MODULE FOR WHEELED VEHICLES |
| CN110539834A (en) * | 2019-08-08 | 2019-12-06 | 吕榕志 | The universal version of the deformable device of the front double-wheel self-aligning balance assembly of the inverted three-wheel |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2993207B1 (en) | 2012-07-11 | 2014-08-15 | Peugeot Motocycles Sa | ROLLING TRAIN FOR TWO WHEEL FRONT VEHICLE LATERALLY RECLINED |
| IT202100022853A1 (en) * | 2021-09-03 | 2023-03-03 | Floris Alessandra | A TILTANT THREE OR FOUR WHEELED VEHICLE WITH HORIZONTAL PARALLELOGRAM |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1063473B (en) * | 1953-12-24 | 1959-08-13 | Nsu Werke Ag | Motorcycle-like vehicle with a front or rear wheel and two steering wheels arranged next to each other symmetrically to the longitudinal axis |
| GB2279047A (en) * | 1993-06-16 | 1994-12-21 | David Dovison | Banking suspension |
| IT1276243B1 (en) * | 1995-12-13 | 1997-10-27 | Romeo Muccio | VEHICLE WITH AT LEAST THREE WHEELS WITH SUSPENSION SYSTEM |
| IT1317529B1 (en) * | 2000-05-16 | 2003-07-09 | Piaggio & C Spa | THREE-WHEEL VEHICLE WITH TWO STEERING FRONT WHEELS |
| AU2006253151A1 (en) * | 2005-05-31 | 2006-12-07 | Brinks Westmaas B.V. | Self-balancing vehicle |
-
2007
- 2007-10-02 FR FR0706890A patent/FR2921628B1/en active Active
-
2008
- 2008-10-01 WO PCT/FR2008/001363 patent/WO2009074752A2/en not_active Ceased
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9045015B2 (en) | 2013-03-07 | 2015-06-02 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9090281B2 (en) | 2013-03-07 | 2015-07-28 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9145168B2 (en) | 2013-03-07 | 2015-09-29 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9248857B2 (en) | 2013-03-07 | 2016-02-02 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9283989B2 (en) | 2013-03-07 | 2016-03-15 | Ford Global Technologies, Llc | Laterally tiltable, multitrack vehicle |
| US9845129B2 (en) | 2014-08-29 | 2017-12-19 | Ford Global Technologies, Llc | Stabilizing arrangement for a tilting running gear of a vehicle and tilting running gear |
| US9821620B2 (en) | 2014-09-01 | 2017-11-21 | Ford Technologies Corporation | Method for operating a tilting running gear and an active tilting running gear for a non-rail-borne vehicle |
| US10076939B2 (en) | 2014-11-26 | 2018-09-18 | Ford Global Technologies, Llc | Suspension systems for laterally tiltable multitrack vehicles |
| US9925843B2 (en) | 2015-02-24 | 2018-03-27 | Ford Global Technologies, Llc | Rear suspension systems for laterally tiltable multitrack vehicles |
| US10023019B2 (en) | 2015-02-24 | 2018-07-17 | Ford Global Technologies, Llc | Rear suspension systems with rotary devices for laterally tiltable multitrack vehicles |
| IT201800002190A1 (en) * | 2018-01-30 | 2019-07-30 | Quadro Vehicles Sa | SUSPENSION MODULE FOR WHEELED VEHICLES / SUSPENSION MODULE FOR WHEELED VEHICLES |
| CN110539834A (en) * | 2019-08-08 | 2019-12-06 | 吕榕志 | The universal version of the deformable device of the front double-wheel self-aligning balance assembly of the inverted three-wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2921628B1 (en) | 2017-02-10 |
| WO2009074752A3 (en) | 2009-08-20 |
| FR2921628A1 (en) | 2009-04-03 |
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