Some embodiments may provide a suspension unit that may include a rail having a longitudinal axis, a sliding member slidably connected to the rail, and shock absorption and springing means adapted to damp motions and support forces along the longitudinal axis of the rail, wherein, the rail and the sliding member are shaped to have transverse cross-sectional profiles that prevent a rotational movement of the sliding member with respect to the rail about the longitudinal axis of the rail. In some embodiments, the suspension unit may be part of an in-wheel system further including at least a steering unit.

Some embodiments may provide a suspension unit that may include a rail having a longitudinal axis, a sliding member slidably connected to the rail, and shock absorption and springing means adapted to damp motions and support forces along the longitudinal axis of the rail, wherein, the rail and the sliding member are shaped to have transverse cross-sectional profiles that prevent a rotational movement of the sliding member with respect to the rail about the longitudinal axis of the rail. In some embodiments, the suspension unit may be part of an in-wheel system further including at least a steering unit.

A milling machine may have a frame, a milling drum attached to the frame, and ground engaging tracks that support the frame and propel the milling machine in a forward or rearward direction. The milling machine may have at least one actuator connecting the frame to at least one of the ground engaging tracks. The actuator may adjust a height of the frame relative to at least one of the tracks. The milling machine may also have a non-contact leg-height sensor attached to the frame. The sensor may generate a signal indicative of a height of the frame relative to at least one of the tracks. The milling machine may also have a controller configured to determine the height based on the signal.

A milling machine may have a frame, a milling drum attached to the frame, and ground engaging tracks that support the frame and propel the milling machine in a forward or rearward direction. The milling machine may have at least one actuator connecting the frame to at least one of the ground engaging tracks. The actuator may adjust a height of the frame relative to at least one of the tracks. The milling machine may also have a non-contact leg-height sensor attached to the frame. The sensor may generate a signal indicative of a height of the frame relative to at least one of the tracks. The milling machine may also have a controller configured to determine the height based on the signal.

A suspension group for a motor vehicle, wherein said suspension group includes: a wheel guide, which extends along a longitudinal axis, which includes a wheel attachment for connection to a rotation pin of a wheel having a rotation axis orthogonal to said longitudinal axis, wherein the wheel guide extends between a first end and a second end, opposite the first end, a support arm functionally connected to the wheel guide respectively by means of: a first crank rotatably connected at said second end to the wheel guide and to the support arm; a second crank rotatably connected at said first end to the wheel guide and to the support arm, wherein the wheel guide elements, the support arm and the first and second crank define a suspension quadrilateral, wherein, between at least two of said elements chosen between the wheel guide, the support arm, the first and the second crank, a shock absorber group is interconnected in such a way that the shock absorber group varies its extension as the movement of the suspension quadrilateral varies.

An exemplary actuator includes a motor, a transmission, and a support structure. The motor includes two torque sources that apply respective input torques to a rotor, which rotates about a rotation axis in response to a net input torque. The torque sources are arranged such that the input torques are additive, resulting in a vector-summated torque output. The torque sources also generate corresponding reactive torques that are applied to the first stator and the second stator. The transmission couples and constrains the first stator and the second stator such that rotational motion of one stator causes counter rotation of the other stator. Thus, the reactive torques are subtractive resulting a differential torque output. In some applications, the differential torque output is used to actuate a suspension of a vehicle. The actuator is also coupled to the vehicle via the support structure, which also reflects a reaction force or torque to actuate other subsystems (e.g., anti-dive, anti-squat).

The invention relates inter alia to a steerable independent wheel suspension for a mobile agricultural machine. A support device serves for the pivotable mounting of the independent wheel suspension on a frame part of the agricultural machine. At least one guide column is mounted displaceably in the support device. A wheel hub is guided displaceably along the at least one guide column. A bracket is connected fixedly to the at least one guide column so as to move with the at least one guide column. The bracket can allow a flexible and improved arrangement of height adjustment means, damping means and spring-mounting means of the independent wheel suspension.

A heavy-duty vehicle may include a vehicle frame, a plurality of rear-wheel assemblies, and a plurality of front-wheel assemblies. The wheel assemblies are mounted to the vehicle frame. Each of the front-wheel assemblies may include a rim, a spindle, a brake assembly, a motor, and a transmission assembly. The spindle may be at least partially disposed within the rim. The brake assembly may be disposed within the rim and may extend around the spindle. The motor may be disposed within the cavity in the spindle. At least a portion of the motor is disposed between first and second axial ends of the rim. The transmission assembly may be disposed within the rim. The transmission assembly may transmit rotary motion of the motor to the rim to rotate the rim relative to the spindle.

A milling machine may have a frame, ground engaging tracks that support the frame, and an actuator that adjusts a height of the frame relative to the track. The milling machine may have a control valve that selectively controls a flow of fluid into or out of the actuator based on the current supplied to the control valve. The milling machine may have a controller that determines the amount of current required to operate the actuator at a nominal actuator velocity and supplies that current to the control valve. The controller determines a measured actuator velocity based on a time required to extend or retract the actuator by a predetermined length, and adjusts the amount of current based on the measured and nominal actuator velocities. The controller also supplies the adjusted amount of current to the control valve to adjust the height of the frame relative to the track.

An electric drive system including: a rotary motor system including a hub assembly, a first rotating assembly, a second rotating assembly, and a third rotating assembly, wherein the hub assembly defines a rotational axis about which the first rotating assembly, the second rotating assembly, and the third rotating assembly are coaxially aligned and are capable of independent rotational movement independent of each other; a multi-bar linkage mechanism connected to each of the first and third rotating assemblies and connected to the hub assembly and constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first rotating assembly and the third rotating assembly with respect to each other.