Self-propelled land vehicle

Claim 2

A self-propelled land vehicle comprising: a frame; a power source supported on said frame; a plurality of wheels arranged to support said frame from a roadway and to propel said frame by rotation of said wheels; each of said wheels having its own motor associated with it in driving relationship thereby forming a plurality of indpendent motor-wheel systems; controllable means for connecting each said motor to said power source for delivery of driving power to each said motor; each of said motor-wheel systems including an arm pivotally supported on said frame, and adapted to swing about a normally horizontal axis, the wheel of each motor-wheel system being for rotation about an axis of rotation supported at an end of the arm of said system remote from said normally horizontal axis, and the motor of each motor-wheel system also being supported on the arm of said system, the axis of rotation of the wheel being rigidly connected to the motor housing through said arm whereby the housing of the motor is caused to move in response to swinging movements of the wheel axis about said normally horizontal axis, and said motor being at a location closer to said normally horizontal axis than the axis of rotation of the wheel of said system is to said normally horizontal axis, said location being such that the center of gravity of the motor approximately coincides with said normally horizontal axis; means for maintaining said motor-wheel systems in a position such that a straight line extending perpendicularly between the normally horizontal axis of each system and the corresponding wheel axis, forms an acute angle with the roadway; and spring means and damping means associated with each of said motor-wheel systems, and acting on the arm thereof.

Claim 3

A vehicle according to claim 1 in which the wheel, motor, and other parts of each of said motor-wheel systems are so positioned in accordance with their respective masses that the said normally horizontal axis of the system is approximately an axis of suspension for a conjugate center of percussion located substantially at the corresponding wheel axis.

Claim 4

A vehicle according to claim 1 in which said means for maintaining said motor-wheel system in a position comprises means for adjusting the tension or compression on the spring means associated therewith.

Claim 5

A vehicle according to claim 1 having at least two of said motor-wheel systems, and means for simultaneously steering both of said two systems by rotating each system about an inclined steering axis which is fixed with respect to the vehicle frame, and which is perpendicular to the wheel axis and intersects the roadway between the lateral boundaries of the area of contact between the wheel and the roadway when the said normally horizontal axis of the system is horizontal, the steering force being transmitted to each of said two systems through the normally horizontal axis thereof.

Claim 6

A vehicle according to claim 1 including means for steering at least one of said motor-wheel systems about an inclined steering axis which is fixed with respect to the vehicle frame, and which is perpendicular to the wheel axis of said system and intersects the roadway between the lateral boundaries of the area of contact between the wheel and the roadway when its said normally horizontal axis is horizontal, said steering means comprising support means providing a pivot for pivotally supporting the arm of said one motor-wheel system for rotation about a normally horizontal axis, means for pivotally mounting said support means on said frame for rotation about said steering axis, whereby said one motor-wheel system is supported on said frame through said pivotally mounted support means.

Claim 7

A vehicle according to claim 5 in which the spring means and damping means, associated with said one motor-wheel system, are connected in parallel between the arm of said one motor-wheel system and said pivotally mounted support means.

Claim 8

A vehicle according to claim 6 in which the means for maintaining said one motor-wheel system in a position comprises means for adjusting the tension or compression on the spring means associated therewith.

Claim 9

A vehicle according to claim 6 in which the means for maintaining said one motor-wheel system in a position comprises electric motor means for adjusting the tension or compression on the spring means associated therewith.

Claim 10

A vehicle according to claim 1 wherein at least two of said independent motor-wheel systems are arranged on said frame one behind the other to provide a front and rear wheel, and comprising means for steering one of said two systems, means responsive to said steering means for steering the other of said two systems, and selectable means for establishing a first selectable relationship between said steering means and said other of said two systems, in which operation of said steering means effects steering of said two systems in the same direction and establishing a second selectable relationship between said steering means and said other of said two systems in which operation of said steering means effects steering of said one of said two systems but does not effect steering of said other of said systems.

Claim 11

A vehicle according to claim 1 wherein at least two of said independent motor-wheel systems are arranged on said frame one behind the other to provide a front and rear wheel, and comprising means for steering one of said two systems, means responsive to said steering means for steering the other of said two systems, and selectable means for establishing a first selectable relationship between said steering means and said other of said two systems, in which operation of said steering means effects steering of said two systems in the opposite direction and establishing a second selectable relationship between said steering means and said other of said two systems in which operation of said steering means effects steering of said one of said two systems but does not effect steering of said other of said systems.

Claim 12

A vehicle according to claim 10 in which said selectable means includes means for establishing a third selectable relationship between said steering means and said other of said two systems, in which operation of said steering means effects steering of said two systems in the same direction.

Claim 13

A self-propelled land vehicle comprising: a frame; a power source supported on said frame; a plurality of wheels arranged to support said frame from a roadway and to propel said frame by rotation of said wheels; each of said wheels having its own motor associated with it in driving relationship thereby forming a plurality of independent motor-wheel systems; controllable means for connecting each said motor to said power source for delivery of driving power to each said motor; each of said motor-wheel systems including an arm pivotally supported on said frame, and adapted to swing about a normally horizontal axis, the wheel of each motor-wheel system being rotatably supported at an end of the arm of said system remote from said normally horizontal axis, and the motor of each motor-wheel system being supported on the arm of said system at a location closer to said normally horizontal axis than the axis of rotation of the wheel of said system is to said normally horizontal axis; means for maintaining said motor-wheel systems in a position such that a straight line extending perpendicularly between the normally horizontal axis of each system and the corresponding wheel axis, forms an acute angle with the roadway; and spring means and damping means associated with each of said motor-wheel systems and acting on the arm thereof; said spring means being a spiral leaf having its inner end connected to said arm, and having its outer end connected to said frame through connecting means having adjustable length, and including electric motor means for adjusting the length of said connecting means.

Claim 14

A self-propelled land vehicle comprising: a frame; a power source supported on said frame; a plurality of wheels arranged to support said frame from a roadway and to propel said frame by rotation of said wheels; each of said wheels having its own motor associated with it in driving relationship thereby forming a plurality of independent motor-wheel systems; controllable means for connecting each said motor to said power source for delivery of driving power to each said motor; each of said motor-wheel systems including an arm pivotally supported on said frame, and adapted to swing about a normally horizontal axis, the wheel of each motor-wheel system being rotatably supported at an end of the arm of said system remote from said normally horizontal axis, and the motor of each motor-wheel system being supported on the arm of said system at a location closer to said normally horizontal axis than the axis of rotation of the wheel of said system is to said normally horizontal axis; means for maintaining said motor-wheel systems in a position such that a straight line extending perpendicularly between the normally horizontal axis of each system and the corresponding wheel axis, forms an acute angle with the roadway; and spring means and damping means associated with each of said motor-wheel systems and acting on the arm thereof; said spring means being a spiral leaf having its inner end connected to said arm, and having its outer end connected to said frame through connecting means having adjustable length, and including electric motor means for adjusting the length of said connecting means.

Claim 15

A self-propelled land vehicle comprising: a frame; a power source supported on said frame; a plurality of wheels arranged to support said frame from a roadway and to propel said frame by rotation of said wheels; each of said wheels having its own motor associated with it in driving relationship thereby forming a plurality of independent motor-wheel systems; controllable means for connecting each said motor to said power source for delivery of driving power to each said motor; each of said motor-wheel systems including an arm pivotally supported on said frame, and adapted to swing about a normally horizontal axis, the wheel of each motor-wheel system being rotatably supported at an end of the arm of said system remote from said normally horizontal axis, and the motor of each motor-wheel system being supported on the arm of said system at a location closer to said normally horizontal axis than the axis of rotation of the wheel of said system is to said normally horizontal axis; means for maintaining said motor-wheel systems in a position such that a straight line extending perpendicularly between the normally horizontal axis of each system and the corresponding wheel axis, forms an acute angle with the roadway; and spring means and damping means associated with each of said motor-wheel systems and acting on the arm thereof; said vehicle including means for steering at least one of said motor-wheel systems about a steering axis which is perpendicular to the wheel axis of said system and intersects the roadway between the lateral boundaries of the area of contact between the wheel and the roadway, said steering means comprising support means providing a pivot for pivotally supporting the arm of said one motor-wheel system for rotation about a normally horizontal axis, means for pivotally mounting said support means on said frame for rotation about said steering axis, whereby said one motor-wheel system is supported on said frame through said pivotally mounted support means; and in which the spring means and damping means, associated with said one motor-wheel system, are connected in parallel between the arm of said one motor-wheel system and said pivotally mounted support means; said spring means of said one motor-wheel system being a spiral leaf having its inner end connected to the arm of said one system, and having its outer end connected to said pivotally mounted support through connecting means having adjustable length, and including electric motor means for adjusting the length of said connecting means.

Claim 16

A self-propelled land vehicle comprising: a frame; a power source supported on said frame; a plurality of wheels arranged to support said frame from a roadway and to propel said frame by rotation of said wheels; each of said wheels having its own motor associated with it in driving relationship thereby forming a plurality of independent motor-wheel systems; controllable means for connecting each said motor to said power source for delivery of driving power to each said motor; each of said motor-wheel systems including an arm pivotally supported on said frame, and adapted to swing about a normally horizontal axis, the wheel of each motor-wheel system being rotatably supported at an end of the arm of said system remote from said normally horizontal axis, and the motor of each motor-wheel system being supported on the arm of said system at a location closer to said normally horizontal axis than the axis of rotation of the wheel of said system is to said normally horizontal axis; means for maintaining said motor-wheel systems in a position such that a straight line extending perpendicularly between the normally horizontal axis of each system and the corresponding wheel axis, forms an acute angle with the roadway; and spring means and damping means associated with each of said motor-wheel systems and acting on the arm thereof; said vehicle including means for steering at least one of said motor-wheel systems about a steering axis which is perpendicular to the wheel axis of said system and intersects the roadway between the lateral boundaries of the area of contact between the wheel and the roadway, said steering means comprising support means providing a pivot for pivotally supporting the arm of said one motor-wheel system for rotation about a normally horizontal axis, means for pivotally mounting said support means on said frame for rotation about said steering axis, whereby said one motor-wheel system is supported on said frame through said pivotally mounted support means; and in which the spring means and damping means, associated with said one motor-wheel system, are connected in parallel between the arm of said one motor-wheel system and said pivotally mounted support means; said spring means of said one motor-wheel system being a spiral leaf having its inner end connected to the arm of said one system, and having its outer end connected to said pivotally mounted support through connecting means having adjustable length, and including electric motor means for adjusting the length of said connecting means.

Claim 17

A self-propelled land vehicle comprising: a frame; a power source supported on said frame; a plurality of wheels arranged to support said frame from a roadway and to propel said frame by rotation of said wheels; each of said wheels having its own motor associated with it in driving relationship thereby forming a plurality of independent motor-wheel systems; controllable means for connecting each said motor to said power source for delivery of driving power to each said motor; each of said motor-wheel systems including an arm pivotally supported on said frame, and adapted to swing about a normally horizontal axis, the wheel of each motor-wheel system being rotatably supported at an end of the arm of said system remote from said normally horizontal axis, and the motor of each motor-wheel system being supported on the arm of said system at a location closer to said normally horizontal axis than the axis of rotation of the wheel of said system is to said normally horizontal axis; means for maintaining said motor-wheel systems in a position such that a straight line extending perpendicularly between the normally horizontal axis of each system and the corresponding wheel axis, forms an acute angle with the roadway; and spring means and damping means associated with each of said motor-wheel systems and acting on the arm thereof; said vehicle including means for steering at least one of said motor-wheel systems about a steering axis which is perpendicular to the wheel axis of said system and intersects the roadway between the lateral boundaries of the area of contact between the wheel and the roadway, said steering means comprising support means providing a pivot for pivotally supporting the arm of said one motor-wheel system for rotation about a normally horizontal axis, means for pivotally mounting said support means on said frame for rotation about said steering axis, whereby said one motor-wheel system is supported on said frame through said pivotally mounted support means; and in which the spring means and damping means, associated with said one motor-wheel system, are connected in parallel between the arm of said one motor-wheel system and said pivotally mounted support means; the damping means associated with said one motor-wheel system comprising a toroidal tube having a first connection means, and circular piston means within said tube and having second connection means, the piston having two spaced seals fixed thereon and cooperating with the inner wall of said toroidal tube to provide an enclosed fluid space, and means within said toroidal tube and between said seals for providing a restriction to fluid flow as said piston moves, one of said connection means being connected to said pivotally mounted support, and the other being connected to the arm of said one system.

Claim 18

A self-propelled land vehicle comprising: a frame; a power source supported on said frame; a plurality of wheels arranged to support said frame from a roadway and to propel said frame by rotation of said wheels; each of said wheels having its own motor associated with it in driving relationship thereby forming a plurality of independent motor-wheel systems; controllable means for connecting each said motor to said power source for delivery of driving power to each said motor; each of said motor-wheel systems including an arm pivotally supported on said frame, and adapted to swing about a normally horizontal axis, the wheel of each motor-wheel system being rotatably supported at an end of the arm of said system remote from said normally horizontal axis, and the motor of each motor-wheel system being supported on the arm of said system at a location closer to said normally horizontal axis than the axis of rotation of the wheel of said system is to said normally horizontal axis; means for maintaining said motor-wheel systems in a position such that a straight line extending perpendicularly between the normally horizontal axis of each system and the corresponding wheel axis, forms an acute angle with the roadway; and spring means and damping means associated with each of said motor-wheel systems and acting on the arm thereof; said vehicle including means for steering at least one of said motor-wheel systems about a steering axis which is perpendicular to the wheel axis of said system and intersects the roadway between the lateral boundaries of the area of contact between the wheel and the roadway, said steering means comprising support means providing a pivot for pivotally supporting the arm of said one motor-wheel system for rotation about a normally horizontal axis, means for pivotally mounting said support means on said frame for rotation about said steering axis, whereby said one motor-wheel system is supported on said frame through said pivotally mounted support means; and in which the spring means and damping means, associated with said one motor-wheel system, are connected in parallel between the arm of said one motor-wheel system and said pivotally mounted support means; the damping means associated with said one motor-wheel system comprising a toroidal tube having a first connection means, and circular piston means within said tube and having second connection means, the piston having two spaced seals fixed thereon and cooperating with the inner wall of said toroidal tube to provide an enclosed fluid space, and means within said toroidal tube and between said seals for providing a restriction to fluid flow as said piston moves, one of said connection means being connected to said pivotally mounted support, and the other being connected to the arm of said one system.

Claim 19

A vehicle according to claim 14 in which said piston is tapered from the location of each seal to a central location thereon between said seals, whereby said restriction-providing means provides a greater restriction near the ends of piston travel than at intermediate positions of piston travel.

Claim 20

A vehicle according to claim 1 adapted for movement primarily in one direction, in which the arms of said motor-wheel systems are disposed so that upward movement of the wheel of each system, as the result of its striking a bump in the roadway, is accompanied by a component of motion of the wheel in the direction opposite the primary direction of movement of the vehicle, whereby the impulse imparted to the wheel by the bump results in a shock acceleration of reduced magnitude acting on the vehicle.