A movable object such as a mobile robot is designed to be driven indoors or outdoors with improved stability. Stability is enhanced by an attitude control mechanism to improve attitude stability of the movable object in a direction perpendicular to a driving direction thereof. The movable object includes an attitude control motor including a connecting shaft having a first end connected to a body part and a second end connected to a wheel, wherein the second end of the connecting shaft is located higher or lower than the first end of the connecting shaft.

A steering device includes a steering power unit, a transmission unit, an upper control arm, a steering element, an eccentric bolt and a steering knuckle. The steering power unit has at least one torque-output end. The transmission unit is connected with the torque-output end. The steering element is connected with the transmission unit. The eccentric bolt, installed at the upper control arm, is connected with the steering power unit. The steering knuckle, mounted to a wheel disc, is connected with the steering element and the upper control arm, and used for controlling the wheel disc. The steering power unit drives the steering element to push or pull the steering knuckle for controlling a turning angle, and simultaneously drives the eccentric bolt to have the upper control arm to push or pull the steering knuckle for varying a camber angle of the wheel disc. In addition, a steering method is provided.

This invention relates to a rolling motor vehicle with three or four wheels, comprising a frame 6 that extends from a forecarriage 8, which supports at least two front wheels 10,10, to a rear 12 which supports one or more rear wheels 14. The frame 6 defines an accommodating area 15 for a driver P. The forecarriage 8 in turn comprises: a forecarriage frame 16; at least one pair of front wheels 10,10 kinematically connected to each other and to the forecarriage frame 16 by means of a rolling kinematic mechanism 20 which enables the front wheels to roll in a synchronous and specular manner, each wheel 10,10 being connected to said rolling kinematic mechanism 20 by means of a respective axle journal 60, said axle journal 60 being mechanically connected to a rotation pin 68 of the wheel in order to support it rotatably around an axis of rotation R-R, R-R; a roll control system 100 of the motor vehicle; suspension means 90 which guarantee each axle journal 60 at least one spring suspension movement with respect to said rolling kinematic mechanism 20. The roll control system comprises a rod 110, which connects the two front wheels directly to each other at the respective axle journals 60 at its two ends by means of hinging means 72,73,74 which enable said rod 110 to passively follow the movements of the axle journals 60, the roll movements of the two front wheels and of the respective axle journals causing changes in the lying position of said rod 110 with respect to a vertical projection plane, which is transverse to a centre line plane M-M of the motor vehicle. The rod 110 is usable directly or indirectly by the driver P as a command element of the roll control system 100 to control the rolling movements of the two front wheels without having to put his feet on the ground, adjusting the lying position of the rod 110 itself with his own body. Said command element 110, 120 is disposed so as to be accessible and maneuverable by the driver P from the accommodating area 15.

A tiltable vehicle is configured to transform between an autonomous mode and a rideable mode by pivoting the handlebars and steering column of the vehicle about a pitch axis. In the autonomous mode, the steering column is folded back toward the chassis and a tiltable chassis of the vehicle is prevented from tilting. In the rideable mode, the steering column is unfolded and the chassis is free to tilt. In some examples, a tiltable vehicle includes features beneficial for vehicle-sharing, such as parking devices or a basket. These features may be included on any suitable vehicle and are not limited to use on transforming vehicles.

Disclosed is a tilting structure of a mobility device, the tilting structure including: a base frame; a tilting bar coupled to the base frame to be able to rotate in two side directions on a rotational center fixed to the base frame; front wheels having a rotary shaft fixed to steering knuckles vertically extending; first connection links each having a first end rotatably coupled to the steering knuckle and a second end rotatably coupled to the base frame; second connection links each having a first end rotatably coupled to the steering knuckle at a position spaced over or under the coupling position of the first connection link and a second end rotatably coupled at a position spaced apart from the rotational center of the tilting bar; and shock-absorbing members each having a first end fixed to the base frame and a second end connected to the steering knuckle, the first connection link, or the second connection link.

Disclosed is a forecarriage of a rolling motor vehicle with three or four wheels, comprising: a forecarriage frame; at least a pair of front wheels kinematically connected one to each other and to the forecarriage frame by means of a first kinematic mechanism which enables the front wheels to roll in a synchronous and specular manner, each wheel being connected to said rolling kinematic mechanism by means of a respective axle journal, the latter being mechanically connected to a rotation pin of the wheel in order to support it rotatably around an axis of rotation; means of suspension which provide each axle journal at least one spring suspension movement with respect to said rolling kinematic mechanism; a steering device which kinematically connects the axle journals to each other so as to command the rotation of the axle journals around respective steering axes of each front wheel.

Disclosed is a forecarriage of a rolling motor vehicle with three or four wheels, comprising: a forecarriage frame; at least a pair of front wheels kinematically connected one to each other and to the forecarriage frame by means of a first kinematic mechanism which enables the front wheels to roll in a synchronous and specular manner, each wheel being connected to said rolling kinematic mechanism by means of a respective axle journal, the latter being mechanically connected to a rotation pin of the wheel in order to support it rotatably around an axis of rotation; means of suspension which provide each axle journal at least one spring suspension movement with respect to said rolling kinematic mechanism; a steering device which kinematically connects the axle journals to each other so as to command the rotation of the axle journals around respective steering axes of each front wheel.

A rolling motor vehicle (4) comprising a forecarriage frame (16), at least one pair of front wheels (10), a rolling kinematic mechanism (20) to which each wheel (10) is connected by means of a respective axle journal (60), a roll control system (100) comprising a rod (110) which connects the two front wheels (10) directly to each other at the respective axle journals (60), the roll movements of the two front wheels (10) and of the respective axle journals (60) causing changes in the lying position of said rod (110) with respect to a vertical projection plane which is transverse to a centre line plane of the motor vehicle (4), the rod (110) is usable directly or indirectly by the driver (P) as a command element to control the rolling movements of the two front wheels (10) without having to put his feet on the ground.

A rolling motor vehicle (4) comprising a forecarriage frame (16), at least one pair of front wheels (10), a rolling kinematic mechanism (20) to which each wheel (10) is connected by means of a respective axle journal (60), a roll control system (100) comprising a rod (110) which connects the two front wheels (10) directly to each other at the respective axle journals (60), the roll movements of the two front wheels (10) and of the respective axle journals (60) causing changes in the lying position of said rod (110) with respect to a vertical projection plane which is transverse to a centre line plane of the motor vehicle (4), the rod (110) is usable directly or indirectly by the driver (P) as a command element to control the rolling movements of the two front wheels (10) without having to put his feet on the ground.

The four wheel steering vehicle utilizes a cage system that extends along the longitudinal axis to protect the driver coupled to a center rail chassis. Front and Back independent suspension links extend outward along the lateral axis pivotally connected to the wheel assemblies enabling four wheel independent suspension. A centrally located pivoting shock provides both steering control and suspension attachment for the shock and spring. The vehicle is controlled by the driver using a steering wheel, acceleration pedal, and a brake pedal. The invention provides a feeling of integration with the vehicle as the driver rolls into turns with the vehicle, while minimizing fatigue caused by the continuous resistance to centrifugal cornering forces.