A vehicle suspension comprises a frame, a front axle and a rear axle and two L-shaped levers mounted on the frame. The axles are rigid or have independent suspension, or one is rigid and one has independent suspension. Each axle is attached movably to the frame by means of a bearing unit and two reactive tie rods. One end of each of the L-shaped levers is kinematically connected to the corresponding axle while the other ends are interconnected by a connecting tie rod. An increase in the stability of the suspension is achieved.

A leveling system for a lift device includes an axle, a pin, a cradle, and a chassis. The axle is configured to rotatably couple with one or more tractive elements. The pin extends through a bore of the axle. The cradle is pivotally coupled with the pin. The chassis is pivotally coupled with the pin and includes a first actuator and a second actuator. The first actuator and the second actuator each include a body and a rod configured to extend relative to the body. The rods of the first actuator and the second actuator are configured to be extended to engage corresponding surfaces on opposite sides of the cradle. The cradle and the chassis are configured to rock in unison a limited angular amount relative to the axle.

In one embodiment, a control system for a vehicle comprising an axle having a center pivoting axis and a frame coupled to the axle at the center pivoting axis, the control system comprising: one or more controllers; a control circuit; and one or more actuators located on one side or opposite sides, respectively, of the center pivoting axis and coupled to the axle and the frame of the vehicle, the one or more actuators configured by the one or more controllers and the control circuit to prevent tipping based on forces imposed on the vehicle.

Tipping over of a work machine is prevented. The work machine includes: a vehicular body; a rear axle attached to the vehicular body to be capable of undergoing a roll motion with respect to an axis extending in a front-rear direction of the vehicular body; and a controller. The controller acquires stability of the center of gravity of the vehicular body, and controls the roll motion of the rear axle with respect to the vehicular body based on the stability.

This oscillating axle (3) for a lifting device (1) comprises an axle bridge (5) at the ends of which are mounted two ground connection members (7), an oscillation axis (X3), a left jack (9) and a right jack (11), each jack (9, 11) having a rod (90, 110) in contact with the bridge (5) and a body (92, 112) fixed on a fixed part (13) of a chassis (2) of the lifting device (1), the body (92, 112) forming a chamber (94, 114) in which the rod (90, 110) moves. The axle comprises a hydraulic circuit (15) interconnecting the chambers (92, 112) of the left (9) and right (11) jacks, in which a fluid is present at a given pressure, making it possible to press the rods (90, 110) of the left jack (9) and of the right jack (11) against the bridge (5), and at least one solenoid valve (150, 152) on a branch (15A) of the hydraulic circuit (15) connected to the chamber (94) of the left jack (9), and at least one solenoid valve (154, 156) on a branch (15B) of the hydraulic circuit (15) connected to the chamber (114) of the right jack (11), wherein each of these solenoid valves (150, 152, 154, 156) may be positioned in an open position, in which fluid may flow freely, and a closed position, in which the fluid is trapped in the chamber (94, 114) of the corresponding jack (9, 11). Each of the chambers (94, 114) of the left jack (9) and of the right jack (11) has a pressure sensor (23, 25) designed to measure the pressure of the fluid in each of the chambers (94, 114). Control means (21) are provided to detect a pressure in one of the chambers (94, 114) that is greater than a first threshold, and/or a differential between the pressures in each of the chambers (94, 114) that is greater than a second threshold, so as to detect the blocking of a solenoid valve (150, 152, 154, 156) in the closed position, and to initiate a safety procedure.

A vehicle includes a chassis, an axle pivotally coupled to the chassis such that the axle can tilt from side to side relative to the chassis, a tilt-angle sensor configured to detect a tilt angle of the axle relative to the chassis, and steerable hubs carried by the axle. Each hub is configured to rotate about steering axes relative to the axle, and a steering-angle sensor is configured to detect a steering angle of at least one hub relative to the axle. A control system limits a maximum steering angle of the hubs based at least in part on a size of tires or tracks carried by the steerable hubs and the detected tilt angle of the axle. A method includes detecting a tilt angle of the axle relative to the chassis and limiting the maximum steering angle of the hubs.

An industrial vehicle includes a body, an axle pivotally supported by the body, a lateral acceleration sensor determining lateral acceleration applied to the body when the industrial vehicle is turned, an actuator temporally restricting pivoting of the axle while the industrial vehicle is being turned, a vehicle speed limiter limiting traveling speed of the industrial vehicle when the industrial vehicle is turned, and a controller driving the actuator based on the lateral acceleration determined by the lateral acceleration sensor to temporally restrict pivoting of the axle and to limit traveling speed of the industrial vehicle based on the lateral acceleration. In the controller a first lateral acceleration threshold value which is used in judging whether traveling speed of the industrial vehicle should be limited is set larger than a second lateral acceleration threshold value which is used in judging whether pivoting of the axle should be temporally restricted.

Disclosed are an adaptive chassis and a robot. The chassis includes: a support (110), a first wheel (101) and a second wheel (102) arranged at two sides of a first end of the support (110), a first suspension seat (120) arranged at a bottom side of a second end of the support (110), a first rotating shaft (121) arranged on the first suspension seat (120), a first crossbeam (130) connected with the first rotating shaft (121) and being capable of rotating around the first rotating shaft (121), and a third wheel (103) and a fourth wheel (104) arranged on two ends of the first crossbeam (130). An axis of the first rotating shaft (121) is consistent with a moving direction of the chassis. When a state of a supporting surface changes and one of the third wheel (103) and the fourth wheel (104) gets out of contact with the supporting surface, the out-of-contact one of the third wheel (103) and the fourth wheel (104) can rotate around the first rotating shaft (121) by means of the first crossbeam (130) to make contact with the supporting surface.

The invention relates to a lifting machine (1) comprising a lifting arm (3), a rolling chassis (2) equipped with at least one front axle (5) and one rear axle (6), and a sensor for measuring the tilt of the lifting arm (3) in relation to the chassis (2), the rear axle (6) being pivotably mounted around an axis that is parallel to the longitudinal axis of the machine (1). The rear pivoting axle (6) is mounted to freely pivot inside an angular range defined by two abutments supported by said chassis (2), the front axle (5) is coupled to the chassis (2) by a pivoting connection with an axis that is parallel to the longitudinal axis of the machine (1) and is equipped with an activatable/deactivatable suspension (9) in order to allow the relative pivoting between the front axle (5) and the chassis (2) to be damped, said suspension (9) being deactivated at least when the angle value measured by sensor (4) for measuring the tilt of the lifting arm (3) is greater than a predetermined threshold value.

The industrial vehicle includes a body, an axle, a lateral acceleration sensor determining lateral acceleration, an actuator temporally restricting pivoting of the axle, a vehicle speed limiter limiting vehicle traveling speed, and a controller driving the actuator based on the lateral acceleration determined by the lateral acceleration sensor to temporally restrict pivoting of the axle while the industrial vehicle is being turned and to limit traveling speed of the industrial vehicle based on lateral acceleration determined by the lateral acceleration sensor when the industrial vehicle is turned. A first lateral acceleration threshold value which is used in judging whether traveling speed of the industrial vehicle should be limited is set smaller than a second lateral acceleration threshold value which is used in judging whether pivoting of the axle should be temporally restricted. An upper limit deceleration rate is set for limiting the traveling speed of the industrial vehicle.