Abstract: Aspects of the invention are directed to running gear for transport devices comprising a guide ring, a wheel carrier configured and arranged to be pivoted within the guide ring about a vertical main axis of rotation and two wheels configured and arranged to be rotated about a common axis of rotation, and an inner ring pivotably mounted in the guide ring via a rotary bearing about the main axis of rotation, and the wheel carrier is pivotably mounted via at least one pivot bearing about a pivot axis perpendicular to the main axis of rotation.

Abstract: A work vehicle includes a vehicle body, a plurality of traveling devices disposed on the right and left sides on the front and rear sides of the vehicle body respectively, a plurality of bending link mechanisms configured to liftably support each one of the traveling devices to the vehicle body and a plurality of drive operating devices capable of changing the posture of each one of the plurality of bending link mechanisms. The vehicle body is split into a front side body section and a rear side body section. The front side body section and the rear side body section are configured to be bendably pivotable relative to each other via a pivot interlocking mechanism.

Abstract: A mobile monitoring device for monitoring controlled contamination areas may include a motorized mobile structure, a sampling unit, and a central management and control unit. The motorized mobile structure is configured to move within an area to be monitored. The sampling unit is positioned on said mobile structure, and configured to perform sampling operations of air and/or surfaces of said area and obtain sampling data. The central management and control unit is operatively connected to the mobile structure and to said sampling unit. The mobile structure may be controlled by the central unit to reach predefined points of the area to be monitored. The sampling unit may be selectively activated and/or deactivated by said central unit in correspondence with said predefined starting points of said sampling operations.

Abstract: A wheel steering system includes a steering device arranged on a steerable wheel, a signal execution device and a steering angle control device. The steering device includes a wheel support rotatably connected to a chassis by a slewing bearing, a bottom of the wheel support is rotatably connected to two ends of a rotary shaft of the steerable wheel, and the wheel support is configured to drive the steerable wheel to turn by 360 degrees through the slewing bearing. The signal execution device is configured to control an angle of rotation of the steerable wheel driven by the slewing bearing. The steering angle control device includes a plurality of reciprocating switch rotors, and the plurality of switch rotors are configured to send electrical signals of steering angles to the signal execution device.

Abstract: The invention relates to a commercial vehicle, in particular a heavy-duty vehicle, comprising a plurality of wheel assemblies mounted on a vehicle frame. At least one of the wheel assemblies comprises an elongate wheel carrier, a wheel at each of the longitudinal ends of the wheel carrier, a drive unit for driving the wheels, and a transmission device. According to the invention, the at least one wheel assembly further comprises a clutch device which selectively interrupts or establishes a power transmission connection between the drive unit and the wheels, and a brake device which is approved for the operation of the commercial vehicle on public roads up to speeds of more than 25 km/h.

Abstract: A work vehicle includes a vehicle body, a plurality of traveling devices for driving traveling, a plurality of bending link mechanisms supporting the plurality of traveling devices to the vehicle body with allowing the plurality of traveling devices to be elevated/lowered independently of each other, a driving mechanism capable of changing respective postures of the plurality of bending link mechanisms independently of each other, and an idle wheel freely rotatably supported to an intermediate bending portion of each one of the plurality of bending mechanisms.

Abstract: A trackless train is formed of a locomotive hinged to carriages of N trailers. A controller is provided at the locomotive, wherein an input end of the controller is connected to an output end of a clock, an odometer and the steering angle meter, and an output end of the controller is connected to an input end of the steering mechanism of each one of the trailers via an optical network. The controller can fully describe and control a travelling track of the trackless train, such that the steered wheels of the trailer carriages and the steering drive wheels of the locomotives maintain the same track during travel.

Abstract: Described is an apparatus for preparing and dispensing a single dose of a food product comprising: —means (2) for feeding a solvent liquid having at least one duct (28) for dispensing the liquid; —a cavity (11) for housing a single-dose unit (50) of a food product comprising an inlet connected to the duct (28) for dispensing the liquid designed for feeding the liquid to the single-dose unit (50); the cavity having at least one duct (8) for transferring the product-liquid mixture; —a unit or chamber (9) for cooling the mixture fed by the transfer duct (8) inside the cooling unit; —a unit (14) for dispensing the product formed inside the cooling unit (9) connected to the same unit, for dispensing the product formed in a single dose.

Abstract: Provided is a tandem lift auxiliary axle suspension assembly for vehicles which can be selectively raised and lowered to adjust the overall vehicle weight to axle ratio. A tandem wheel mount is connected with a pair of torsion rods to a hanger depending from the vehicle frame. An air spring mounted between the beam and the frame dampen axle movement during use. A lift spring is mounted between the hanger and the torsion rods, or other components of the assembly to selectively raise and lower the tandem axles for ground engagement as needed to decrease the weight to axle ratio.

Abstract: The present invention discloses an unmanned transporting robot and the chassis thereof, the chassis includes a floor, a drive unit and a follow unit; the follow unit is used to bear the loads of the chassis and the payload, and includes a plurality of follow components which are arranged on the floor to enable the floor to move smoothly (i. e. without the occurrence of tilting or vibration); the drive unit includes a first drive component and a second drive component which are located symmetrically on both ends of the floor. The present invention also discloses an unmanned transporting robot including the above-described chassis. The chassis of the unmanned transporting robot according to the present invention has the advantages of a compress structure, a small size and a high loading-bearing capacity.

Abstract: A robotic platform may include a chassis, a drive assembly, and a pair of fore and aft wheel assemblies. The drive assembly may include a motor and belt that is controlled by the motor. The wheel assemblies may each include a wheel mounted to an axle for rotation about a drive axis and steering about a steering axis, and a shaft. The shaft may extend along the steering axis from one end that is connected to the axle, to another end that is wrapped by the belt, such that the belt controls rotation of the shaft. Various other assemblies, robots, and methods are also disclosed.

Abstract: A snow-cat, comprising a cabin, the cabin being equipped with a galley for preparing and serving food products and/or beverages.

Abstract: A drive unit for a vehicle includes a drive unit spindle. The drive unit spindle extends along an axis for connecting the drive unit to the vehicle. The drive unit further includes one or more wheel assemblies. Each of the wheel assemblies has a hub that is removably supported by the spindle along the axis. At least one of the wheel assemblies includes a wheel which rotates about the hub and a motor connected to the wheel to rotate the wheel about the hub.

Abstract: An assembly for supporting a vehicle chassis on a wheel of the vehicle includes a wheel attachment component for attaching the assembly to the wheel, a chassis attachment component for attaching the assembly to the vehicle chassis, and a suspension component. At least one adjustment element is coupled with the chassis attachment component and with a first portion of the suspension component, and is configured to shift the first portion of the suspension element between a plurality of operating positions relative to the chassis attachment component. A single strut bar is rigidly coupled with the wheel attachment component and with a second portion of the suspension component, and is configured to pivot relative to the chassis attachment component. The suspension component is configured to regulate motion transfer between the wheel attachment component and the chassis attachment component.

Abstract: The wheeled vehicle enables heavy loads that are mounted on low-height legs to be lifted and transported. Indeed, it is provided with a plurality of wheeled modules (6, 7, 19) that are articulated to each other and have large-diameter wheels. The means for raising the load are centrally placed relative to the longitudinal axis of the wheeled modules. The raising thereof by central jacks makes it possible to lift the load (3) and the loading platform (20) thereof, the ends of which rest on each of the end wheeled modules (46, 47) by way of articulated jacks that control the height of the loading platform (20). Application to the transfer of hoods for waste containers to be stored.

Abstract: A shifting device for a dual clutch transmission as a speed-change transmission for motor vehicles, including two coaxially arranged input shafts, each being activatable via a clutch, an axially parallel output shaft and gearwheel sets that are mounted on the shafts and can be shifted by means of shifting clutches to allow a plurality of forward gears and a reverse gear, the gearwheel sets being subdivided into a sub-transmission having the one input shaft and a sub-transmission having the other input shaft. To achieve a wider gear-ratio spread in a structurally compact construction, a planetary gear train that can be shifted between two gear ratio stages is mounted upstream of the sub-transmission having the hollow input shaft.

Abstract: A transmission gearing arrangement produces at least nine forward speed ratios and one reverse speed ratio by selective engagement of three shift elements in various combinations. One embodiment includes four simple planetary gear sets, three clutches, and three brakes. Another embodiment includes four axis transfer gear pairs, two simple planetary gear sets, five clutches, and one brake.

Abstract: A drive unit for propelling a cart in a forward or reverse direction or from side-to-side. The drive unit has a top plate affixed to a bottom frame of the cart. A pivot plate carrying a drive wheel carriage is pivoted from the plate. The drive wheel carriage includes a yoke in which a drive wheel is mounted. The drive wheel carriage is rockably and rotatably suspended from the pivot plate with the drive wheel biased out of contact with a supporting surface by a spring and biased into contact with the supporting surface with an inflatable air bag. The drive wheel may propel the cart forward when the drive wheel is aligned with the cart's longitudinal axis and from side-to-side when the drive wheel is aligned with the cart's transverse axis.

Abstract: Here invented are efficient road vehicles having special aerodynamic shapes, with stabilizing provisions that enable aerodynamic efficiency. It is a vehicle that is configured to include a carriage part that encloses a driver and passenger riding in tandem. This car width is for persons seated in single file, enabling a narrow width that makes a body shaped like an airship practical, where that shape is characterized by a very low drag coefficient in free flow conditions. This body is elevated on struts above a wheel system to enable such free flow aerodynamic conditions, thus, the drag coefficient of the airship is made applicable to this road vehicle. The wheel system includes wheels on each side of the vehicle that are arranged in horizontal columns, to which the struts are attached. The horizontal columns act as individual aerodynamic entities that function independently of the carriage aerodynamic operation.

Abstract: An omni-directional wheel assembly for a vehicle that includes a wheel, at least one lower suspension link and an upper attachment joint. Both the at least one lower suspension link and the upper attachment joint are attachable to the vehicle. The wheel is able to rotate at 360°, to steer the vehicle, around a pivot line positioned by the at least one lower suspension link and the upper attachment joint once attached to the vehicle. A projection of the pivot line onto a vertical projection plane comprises a vertical axis passing through a contact point between the wheel and ground defining a caster angle with the vertical axis, where whatever the orientation of the projection plane, the omni-directional wheel assembly includes an adjustment means able to adjust the caster angle within a predetermined range.

Abstract: A lift truck includes systems and methods for improved stability control while turning, including a rotatable drive unit having a steerable drive tire. A first slide mechanism is coupled to the rotatable drive unit, and a second slide mechanism is mounted to a caster plate. A steering mechanism coupled to the rotatable drive unit is moved to steer the steerable drive tire, causing the first slide mechanism to interact with the second slide mechanism and to produce a downward pressure and/or reduce the downward pressure on a caster mounted to the caster plate.

Abstract: An omni-directional wheel assembly for a vehicle that includes a wheel, at least one lower suspension link and an upper attachment joint. Both the at least one lower suspension link and the upper attachment joint are attachable to the vehicle. The wheel is able to rotate at 360°, to steer the vehicle, around a pivot line positioned by the at least one lower suspension link and the upper attachment joint once attached to the vehicle. A projection of the pivot line onto a vertical projection plane comprises a vertical axis passing through a contact point between the wheel and ground defining a caster angle with the vertical axis, where whatever the orientation of the projection plane, the omni-directional wheel assembly includes an adjustment means able to adjust the caster angle within a predetermined range.

Abstract: The invention relates to a method of managing a steering control for a steerable portion of an aircraft undercarriage, the method comprising implementing servo-control to servo-control an electromechanical steering actuator on an angular position setpoint, wherein, according to the invention, the servo-control implements a control relationship H? type, the position and speed information being delivered by means of a fieldbus of deterministic type to a computer that implements the servo-control.

Abstract: A seat height control amount setting part determines a target seat height displacement amount according to a deceleration outputted from a braking state calculating part. The deceleration is corrected according to the vehicle speed of a vehicle, and the target seat displacement amount is set such that the seat height becomes lower as the vehicle speed is higher. While correcting the target seat height displacement amount, a target deceleration with respect to the amount of operation of a brake pedal is corrected. The target deceleration is corrected such that the target deceleration with respect to the amount of operation of the brake pedal becomes greater as the vehicle speed is higher.

Abstract: Here is invented an efficient road vehicles having special aerodynamic shapes, with stabilizing devices that enable aerodynamic efficiency. It is an articulated vehicle that is tall and narrow. It includes a carriage part that encloses a driver and passenger riding in tandem. This car is only wide enough for persons seated in single file, so it has very low projected frontal area compared with typical cars. Further, the narrow width makes a body shaped like an airship practical, where that shape is characterized by a very low drag coefficient in free flow conditions. The carriage is elevated on struts to enable such free flow aerodynamic conditions, thus the drag coefficient of the airship is made applicable to this road vehicle. Because this car has both low frontal area and low drag coefficient it will require minimal energy for high speed operation.

Abstract: A personal vehicle comprises a frame with a seat, two large, non-drive wheels connected by an axle at one end of the frame, an elongated swing arm attached to the axle, a pair of caster wheels connected to the frame opposite the large, non-drive wheels and a main drive wheel mounted to a fork and connected to the swing arm. The main drive wheel is located central the vehicle frame, intermediate the frame sides and intermediate frame front and rear sections.

Abstract: A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.

Abstract: A vehicle having a main chassis (3) and a power source (4) for driving the vehicle, a drivable steer carriage (1) pivotally supporting the main chassis (3) about an at least substantially upright pivotal axis (2), the carriage including a plurality of opposed pairs of carriage wheels (5a, 7a, 9a), at least one said pair of carriage wheels being driven by a drive transmission including an input shaft (17a) at least substantially aligned with said upright pivotal axis (2) such that the power source (4) can transfer power through the input shaft (17a) to at least one carriage wheel pair.

Abstract: Electric vehicles provide shoppers with a motorized shopping cart that can be moved and steered via a hand controller. A base has four castor type wheels, a rechargeable battery, a control box housing a CPU, a right angle motor, and a large turning gear attached to its underside. A small turning gear connects the right angle motor to the large turning gear. A drive motor, drive belt, drive shaft, and drive wheels are mounted on the large turning gear. Front rails and clips are attached to the front of the base. A rear support with an oxygen tank holder is attached to the rear of the top of the base. Telescoping side rails connect the front rails to rear rails with latches attached to the rear support. A joystick-type controller is suspended between the front rails. A pressure sensor is attached to the base's top.

Abstract: A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.

Abstract: A heavy vehicle of a mass greater than 40 metric tons and operable to generate a motive power is disclosed. The vehicle includes a first axle, at least two first tires mounted on the first axle, a second axle for transmitting at least part of the motive power, and four second tires mounted on the second axle. At most two of the second tires are driving or motive power transmitting tires. Each of the second tires is associated with a respective braking device.

Abstract: A utility vehicle that has a bogey beam suspension for the front steered wheels is also provided with all wheel drive and steered rear wheels for greater maneuverability. The steering of the rear wheels is coordinated with the steering of the front wheels to have the rear wheels follow in the tracks of the front wheels, thereby avoiding the need to disable the front drive on turns.

Abstract: A utility vehicle that has a bogey beam suspension for the front steered wheels is also provided with all wheel drive by mounting a drive shaft within the bogey beam so that power can be furnished to the front axle. For a six wheel vehicle the middle axle is mounted on the rear of the bogey beam and driven from the rear drive axle by a universal drive assembly. In the four wheel version in which a resilient member is attached between the vehicle and the rear of the bogey beam, the rear drive axle is interconnected with the rear of the front wheel drive shaft by a universal drive assembly.

Abstract: A driving unit for use with a rolling vehicle is provided containing a first and second motor mechanically coupled to two wheels via a transmission unit which is pivotable about the steering axis of the driving unit and adapted to establish a driving relationship between the first motor and one wheel of the unit and for establishing a driving relationship between the second motor and a second wheel of the unit. The coupling between the first motor and second motor and the transmission unit allows the transmission unit to pivot about the steering axis without causing a corresponding pivotal movement of the platform on which the first motor and the second motor are fixedly mounted, while allowing the first motor and the second motor to transmit power to their respective wheels. Various transmission units for use in these driving units are provided as well as rolling vehicles containing such units.

Abstract: A freestanding self-propelled device for moving objects. The device includes a chassis having lower frame portions and upright frame portions. A single motor-driven drive wheel is centrally located between the lateral ends of the chassis and coupled to the chassis so as to be pivotable about a substantially vertical axis. The drive wheel is located between sets of support wheels coupled to the lower frame portion of the chassis. In combination, the drive wheel and the support wheels result in the device being freestanding. The drive wheel projects below the sets of support wheels so that the device is supported by the drive wheel and by only one of each set of support wheels at any given time, thereby establishing a three-point contact with the surface supporting the device. A tiller equipped with controls is pivotably coupled to the drive wheel for pivoting the drive wheel about its vertical axis.

Abstract: The invention relates to a display device, especially in a motor vehicle, comprising a display (2) which can be illuminated by a light source (1), and a light guide (7) which is arranged between the light source (1) and the display (2). Said light source (1) comprises a plurality of individual light sources (10), the entire light-radiating surface of said light sources being larger than the surface of the display (2). In order to increase the light efficiency, the light guide (7) comprises, on the light source side, individual light guiding sections (12) which are associated with the individual light sources (10), said sections forming a common light guiding section (13) on the display side.

Abstract: The invention concerns a transport arrangement (1) for running/movement on uneven surfaces, comprising a frame (5) which on two opposite sides is provided with at least three, preferably four or more, successively arranged actuator legs (2), said actuator legs (2) comprising an upper end (3) and a lower end (4), to which upper end (3) there is fastened an upper frame (6), and to which lower end (4) there is fastened a movement device (7) for bringing about the forwards and backwards movement of the transport arrangement. Each actuator leg (2) comprises a control means (8) and a turning means (9), where the control means (8) brings about a displacement of the movement device (7) which is vertical in relation to the upper frame (6), and the turning means (9) brings about a movement of the movement device (7) which is circular in relation to the running surface. Activation of the three-dimensional movement of the movement device (7) is brought about with registration means (10).

Abstract: A driving unit for use with a rolling vehicle is provided containing a first and second motor mechanically coupled to two wheels via a transmission unit which is pivotable about the steering axis of the driving unit and adapted to establish a driving relationship between the first motor and one wheel of the unit and for establishing a driving relationship between the second motor and a second wheel of the unit. The coupling between the first motor and second motor and the transmission unit allows the transmission unit to pivot about the steering axis without causing a corresponding pivotal movement of the platform on which the first motor and the second motor are fixedly mounted, while allowing the first motor and the second motor to transmit power to their respective wheels. Various transmission units for use in these driving units are provided as well as rolling vehicles containing such units.

Abstract: A mobile harbor crane for the combined handling of containers and bulk materials, having an undercarriage and an upper carriage which is mounted rotatably on the base frame of the undercarriage and on which a tower with a boom that can be pivoted about a horizontal axis is arranged. Four support beams are connected pivotally to a base frame of the undercarriage, symmetrically to the longitudinal and transverse axes of the vehicle, in such a way that they can each be pivoted about vertical axes, they are provided at their free ends with vertically acting leveling cylinders, by means of which the support beams are supported on the wheels of a plurality of traveling gear assemblies via balancers for uniform distribution of the supporting forces.

Abstract: A propulsion system for a vehicle comprised of two wheels, both of which are in the shape of hemispheres. Each of the hemisphere wheels is mounted through a bearing on a fork with two pivots attached to the inner race of the bearing, allowing the wheel to rotate around two perpendicular accesses. The center of each wheel is attached to the shaft through a double universal joint or a flexible shaft. By rotating the hemisphere wheel around the fork pivots the diameter of the wheel engaged with the ground is increased or decreased allowing the vehicle speed and/or direction to very.

Abstract: An apparatus for determining a failure of wheel speed sensors, which is capable of properly determining whether or not a wheel speed detection system including the wheel speed sensors has failed, if at least a wheel speed detected by the wheel speed sensors indicates a stopped state of a corresponding wheel. An engine rotational speed is detected, and an input-output rotational speed ratio of a torque converter of an automatic transmission mounted in the vehicle is calculated. A shift range of the automatic transmission is detected. Whether or not the vehicle is traveling is determined based on the engine rotational speed and the input-output rotational speed ratio when the automatic transmission is in a traveling range. It is determined that the wheel speed detection system including the wheel speed sensors has failed, if it is determined that the vehicle is traveling, and at the same time, at least one of wheel speed sensors indicates a stopped state of a corresponding one of the wheels.

Abstract: A drive wheel 10 is shown to include a support member 12 and, a wheel member 11 having a surface contacting portion 18 extending about a periphery of the wheel member 11. A drive shaft 24 includes a drive device 25 arranged to engage a drive surface 26 on the wheel member 11 such that the wheel member 11 can be rotatably driven relative to the support member 12. When the drive device 25 is engaged with the drive surface 26, a line of engagement 27 is defined along portions of the drive device 25 and the drive surface 26 that engage with one another.

Abstract: A transmission in a power machine includes an axle having an inboard and outboard end. The outboard end is coupled to a wheel through a universal joint. The inboard end is coupled, through a sprocket assembly and chain drive linkage to a hydraulic motor. The axle is supported at its inboard end by a single spherical bearing.

Abstract: Apparatus for providing self-propelled motion to a medication cart comprises a driving unit which is mounted to a base of the medication cart. The driving unit includes a drive wheel which is movable between extended and retracted positions. In the extended position, the drive wheel engages the floor to provide self-propelled motion to the medication cart. In the retracted position, the medication cart is freely movable on supporting castor wheels. Foot operated pedals are provided to move the drive wheel between the extended and retracted positions. Forward and reverse motion of the cart is provided by a rocker switch which is positioned on a top panel of the cart.

Abstract: Apparatus for providing self-propelled motion to a medication cart comprises a driving unit which is mounted to a base of the medication cart. The driving unit includes a drive wheel which is movable between extended and retracted positions. In the extended position, the drive wheel engages the floor to provide self-propelled motion to the medication cart. In the retracted position, the medication cart is freely movable on supporting castor wheels. Foot operated pedals are provided to move the drive wheel between the extended and retracted positions. Forward and reverse motion of the cart is provided by a rocker switch which is positioned on a top panel of the cart.

Abstract: An omnidirectional vehicle supports the steering shaft M of the driving wheel 1 serving also as a steering wheel through the shaft stub 8 on the body 7 at the point displaced by a distance S horizontally from the ground contact point of the driving wheel 1, turns the driving wheel 1 by the motor 5 and rotates the steering shaft M by the motor 12 to translate the body 7 back and forth as well as sidewise as desired. The vehicle is controlled to move on the reference trajectory based on the ratio of the angular velocity of the driving wheel 1 and the angular velocity of the steering shaft M. The ratio is calculated based on the position and orientation of the body 7 and the steering angle of the steering shaft M, detected by the sensors, and the reference trajectory of the vehicle.

Abstract: A steering device for an amusement car including a drive wheel mounted off-center on a wheel shaft to provide a rotation force for quick and automatic recovery of the steering device to steer the car away from an obstacle that is encountered during use. The drive wheel being mounted to the wheel shaft in an area bounded by a distance equal to the radius of the drive wheel and a distance equal to the diameter of the drive wheel, both measured from the center of the wheel shaft.

Abstract: The invention relates to a traversing gear arrangement for a crane moving on rubber-tired wheels or the like. The crane having an electric motor functioning as the traversing gear and including gearing and wheels arranged in pairs. The wheels in each of the pairs of wheels are connected to each other by a hollow pipe shaft such that one of the wheels is a drive wheel, while the other is a free wheel. The traversing gear connected to the drive wheel is mounted inside the pipe shaft.

Abstract: When a longitudinal straight traveling mode position A, an oblique traveling mode position B, a transverse traveling mode position C, or spin turning mode position D is selected by a traveling mode changeover switch 21, a signal corresponding to the selection is input to a controller 27. The controller outputs signals to turning actuators 15a and 15b for orienting driving wheels 11a and 11b toward the selected position. With this signal, the turning actuators 15a and 15b cause turning of the driving wheels 11a and 11b. At the same time, turning angle detection sensors 16a and 16b input signal indicative of turning angle of the driving wheels. When the turning angle becomes coincident with a preliminarily set angle, a signal for terminating turning is output to the turning actuators 15a and 15b. By this control, turning action of the turning actuators 15a and 15b is terminated with setting the driving wheels 11a and 11b at the position of the selected orientation.

Abstract: A chassis, particularly for carrying a wheelchair with pivotal seat (S), fitted with ground-engaging wheels with at least one driven from a drive device through a drive transmission and with at least one steerably suspended and connected to a steering motor receiving steering signals for steering the chassis bearing while driving from a steering panel comprising steering control devices (STY) is described, whereby all steerably wheels (2R) are drive device driven and steerably suspended each being pivotal about a vertical steering axis (2S, STF) geometrically maintained within or at a vertical plane comprising the wheel axis (2RAKS).