U.S. patent number 3,589,302 [Application Number 04/800,066] was granted by the patent office on 1971-06-29 for linear-motor-driven vehicle.
This patent grant is currently assigned to Nippon Kokuyu Tetsudo. Invention is credited to Yoshio Usami.
United States Patent |
3,589,302 |
Usami |
June 29, 1971 |
LINEAR-MOTOR-DRIVEN VEHICLE
Abstract
A number of electric linear-motor driving units are coupled to
the bodies of cars in a train in a manner to undergo displacement
relative to the bodies when the cars are traveling along a curve
and are operating cooperatively with and guided by a reaction rail
along a roadway, and this displacement is transmitted by a linkage
to steer wheel and suspension systems on which the cars are rolling
so as afford bogie action whereby the wheels can follow the roadway
with minimum friction, undue stress, and power.
Inventors: |
Usami; Yoshio (Tokyo-to,
JA) |
Assignee: |
Nippon Kokuyu Tetsudo
(Tokyo-to, JA)
|
Family
ID: |
11761033 |
Appl.
No.: |
04/800,066 |
Filed: |
February 18, 1969 |
Foreign Application Priority Data
|
|
|
|
|
Feb 22, 1968 [JA] |
|
|
43/10822 |
|
Current U.S.
Class: |
104/291; 105/3;
105/144; 104/242; 105/168; 105/49 |
Current CPC
Class: |
B60L
13/035 (20130101); B61B 13/08 (20130101); B61B
13/12 (20130101); B60L 2200/26 (20130101) |
Current International
Class: |
B60L
13/03 (20060101); B60L 13/00 (20060101); B61B
13/12 (20060101); B61B 13/08 (20060101); B61k
009/00 () |
Field of
Search: |
;104/148LM,120,248,245
;180/79.2B ;105/3,4,144,145,141,49,168 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: LaPoint; Arthur L.
Assistant Examiner: Libman; George H.
Claims
I claim:
1. In an electric linear-motor transportation system having a
roadway and a reaction rail installed along said roadway, the
combination with said reaction rail and roadway of a vehicle
including a car body having a longitudinal axis, and a driving and
supporting combination comprising: a first linear-motor driving
device operating cooperatively with and under guidance by the
reaction rail to drive said vehicle along the roadway, first
coupling means connecting said driving device to said car body to
cause said driving device to undergo displacement relative to said
car body axis when the car travels along a curve in a roadway, a
pair of support assemblies comprising a wheel and suspension system
of two axle, independent-wheel construction, means coupling said
car body to said suspension system to permit said independent
wheels to undergo steering movement relative to said car body, and
link means coupling said driving device to each said wheel and
suspension system, said link means comprising a pair of rigid
members, said members having inner ends pivotally connected to
opposing sides of said driving device and having outer ends
pivotally coupled to said respective support assemblies to cause
said system to undergo appropriate steering movement in accordance
with said displacement of said driving device.
2. The invention as claimed in claim 1, further comprising another
said vehicle and second coupling means for connecting said other
vehicle to said first driving device, wherein said first and second
coupling means comprise respective pivotal means connected to
adjacent ends of said respective vehicles, and wherein said first
driving device comprises the driving device for said other
vehicle.
3. The invention as claimed in claim 1, in which said vehicle has a
pair of said driving and supporting combinations, one of said
combinations disposed at one end of said car body, and the other of
said combinations disposed at the other end of said car body.
4. The invention as claimed in claim 2 including a train comprising
a plurality of said vehicles coupled end-to-end in a line.
5. The invention as claimed in claim 1 in which said wheel and
suspension system of each vehicle comprises front left and right
wheel assemblies and rear left and right wheel assemblies, and
spring means connecting said wheel assemblies to said car body, and
in which each wheel assembly comprises at least one wheel, and axle
on which said wheel is mounted, and a four-bar linkage in a
horizontal plane, a first bar of each of said 4-bar linkage is one
of said rigid members, a second bar of said 4-bar linkage comprises
a bar disposed perpendicularly to said axle and pivotally connected
at one end to said rigid member, and third and fourth bars of said
4-bar linkage have ends pivotally coupled to said car body for
pivotal movement in said horizontal plane, and have opposing ends
pivotally coupled respectively to the opposing ends of said second
bar.
Description
BACKGROUND OF THE INVENTION
The invention relates to an improved electric railway car driving
system driven by linear motors.
In general, railway vehicles are so constructed that both wheels in
the left and right sides are respectively fixed on one shaft; and,
by imparting the rotating power from the prime mover adhesion drive
is carried out. In view of this, when the railway vehicles pass
through a curved roadway, a so-called "creaking" is caused because
the difference of the running distance between the inner rail and
the outer rail does not coincide with the difference in the cone of
the tread surface, and because of an increased frictional force
between the flanges of the outer wheels and the outer rail.
In general, it is a common practice in railways to support and
guide railway vehicles by means of flanged wheels or to mount
railway vehicles on bogies (known also as bogie trucks and swivel
trucks) having support wheels and guide wheels and to drive these
vehicles by imparting motive power to the support wheels. Such
mechanical arrangements have been adopted as an inevitable result
of the use of adhesion drive or friction drive. Such conventional
mechanisms are subject to certain limitations, particularly in
their application to high-speed transportation means.
Linear motors, on the other hand, effect nonadhesion drive and
afford many interesting possibilities. In a linear motor driving
system, it is desirable that the gap between the magnetic field of
the motor and the reaction rail be maintained at a minimum and,
moreover, a constant value in order to obtain high electrical
efficiency. It is difficult to attain this desirable feature in
practice with bogies of conventional construction when an I-beam
(or I-bar) is used as the reaction rail since the center of gravity
of the vehicle would then become disadvantageously high.
Consequently, there is a need for a vehicular wheel and suspension
system (running gear) which, while being of an independent
left-and-right, two-axle organization, operates effectively in the
same manner as a bogie suspension system when the vehicle is
running along a curved path.
SUMMARY OF THE INVENTION
It is an object of the present invention to provide vehicles in
which the advantageous features of linear motors and railways are
fully utilized.
More specifically, an object of the invention is to provide
linear-motor-driven vehicles which can be easily manufactured,
operated, and maintained.
Another object of the invention is to provide linear-motor-driven
vehicles which are of low empty weight whereby high rates of
acceleration and deceleration can be attained and, therefore, are
highly economical.
Still another object of the invention is to provide
linear-motor-driven vehicles designed to satisfy the above stated
need for an independent left-and-right, two-axle suspension system
which operates effectively in the same manner as a bogie suspension
system in running along a curved path.
The objects of the invention have been achieved by the combination
of a wheel and suspension organization in which each vehicle car
body is supported on four independent tired wheels similarly as in
a conventional motor-vehicle trailer and driven by railway means,
that is, linear-motor driving bogies having the multiple functions
of driving and guiding each vehicle car and of coupling adjacent
vehicles in one embodiment of the invention.
According to the present invention, briefly summarized, there is
provided a transportation system having a roadway and a reaction
rail therealong, characterized by the combination therewith of a
vehicle composed of one or more cars each comprising a car body, at
least one linear-motor driving device operating cooperatively with
and under guidance by the reaction rail and coupled to the car body
in a manner to undergo displacement relative thereto when the car
travels along a curve in the roadway, a wheel and suspension system
of two-axle, independent-wheel-type supporting the car body in a
manner to undergo steering movement relative thereto, and means to
interlink the driving device and the wheel and suspension system
thereby to cause this system to undergo appropriate steering
movement in accordance with the displacement of the driving
device.
The nature, principles, details, and utility of the invention will
be more clearly apparent from the following detailed description
with respect to preferred embodiments of the invention when read in
conjunction with the accompanying drawings, in which like parts are
designated by like reference numerals and characters.
BRIEF DESCRIPTION OF THE DRAWINGS
In the drawings:
FIG. 1 is a diagrammatic side elevation showing an example of
vehicle train of an articulated coupler-bogie organization
constituting an embodiment of the invention;
FIG. 2 is a diagrammatic, fragmentary plan view indicating the
geometric relationships between train cars and a common driving
bogie of the vehicle train shown in FIG. 1 when the cars enter a
curved path;
FIG. 3 is a fragmentary plan view showing an example of means for
supporting an independent wheel assembly and a driving bogie of
linear-motor-type of the train shown in FIG. 1;
FIG. 4a is an elevation of the parts shown in FIG. 3 as viewed in
the train longitudinal direction;
FIG. 4b is a plan view of the support means shown in FIG. 4a;
FIG. 5 is a diagrammatic side elevation showing an example of a
vehicle train of four-wheel bogie organization constituting another
embodiment of the invention;
FIG. 6 is a diagrammatic, fragmentary plan view showing the
geometric relationships between a car and a driving bogie of the
train shown in FIG. 5 when the car enters a curved path;
FIG. 7 is a partial plan view of support means for supporting an
independent wheel assembly and a driving bogie of a car in the
train illustrated in FIG. 5; and
FIG. 8 is an elevational of the parts shown in FIG. 7 as viewed in
the train longitudinal direction.
DETAILED DESCRIPTION
Referring first to FIGS. 1, 2, 3, and 4, the cars (or carriages) of
the train illustrated therein have car bodies 5 each mounted on
four support wheels 3 which can roll along a roadway 1 provided
with a centrally disposed reaction rail 2. A driving device 4 of
linear-motor-type straddling the reaction rail 2 is disposed
between each pair of adjacent car ends in the train and functions
as a coupler therebetween in addition to its functions as a driving
and guiding means. Although this driving device is not, strictly
speaking, a bogie since it does not have wheels, it is hereinafter
referred to as a "driving bogie" because of its swiveled coupling
to the car body or bodies and its operation to determine the
steering of the car wheels. The extreme ends of the train are
provided with detachable driver's cabs 6.
Each car body 5, near each end thereof and near each of the left
and right sides thereof, is supported, principally in the vertical
direction, on coil springs 13 mounted on an axle block 12, which
holds the axle (not shown) of a wheel 3 (comprising two tired
wheels in the example shown in FIGS. 3 and 4). Each car body 5, at
a point on its longitudinal center near each end thereof, is
pin-connected by a vertical coupling pin 20 to one end of a driving
bogie 4.
The wheels 3 at one end of one car, the wheels 3 of the near end of
another adjacent car, and the driving bogie 4 coupling the adjacent
ends of the two cars are interlinked and guided in interrelated
movements in the horizontal plane by a linkage described more fully
hereinafter and comprising, with respect to each wheel 3, an axle
block shaft 11 rotatably supported in horizontal fore-and-aft
position by an axle block 12, a link 10 disposed horizontally and
pin connected at one end thereof to one end of the shaft 11, a body
shaft 9 pin connected at one end thereof to the other end of the
shaft 11 and rotatably supported by a bearing member 8 fixed to a
longitudinal channel beam 7 constituting a rigid frame member of
the car body 5, a normally horizontal link 10a connected at its one
end to the other end of the body shaft 9 and at the other end of
the shaft 11, an interconnecting link 14 pin connected at its one
end to the pin connection between the link 10a and the shaft 11 and
at its other end to one end of a link 19 fixed rigidly to one
lateral side of the driving bogie 4.
Thus, each car body 5 is supported fore and aft by a so-called
two-axle suspension system, in which each of the front and rear
axles is cut at its central part to form two independent wheel
suspension devices. Accordingly, while this suspension system
resembles that of an articulated bogie system, each car body 5, at
each end thereof, is supported independently on independent wheel
mechanisms having two support wheels 3 as the car runs along the
roadway 1.
Thus, the links 10 and 10a, the body shaft 9, and the rotatable
shaft 11 of the suspension mechanism of each wheel constitute a
four-bar linkage lying substantially in a horizontal plane. The bar
formed by shaft 9 is fixed to the car body with respect to
movements in this plane but is rotatable within the bearing member
8, whereby the links 10 and 10a and the wheel assembly connected
thereto can rotate about the axis of the shaft 9. Furthermore, the
axle block 12, axle, and wheel 3 are free to rotate about the axis
of the shaft 11.
If, of the plurality of car bodies 5 in one train each supported in
the above described manner, the foremost and rearmost car bodies
are constructed as bodies with built-in driver's cabs, the train
will be the same, in this sense, to a train of general type. In the
instant example illustrated, the end car bodies and the
intermediate car bodies are all made identical for the purpose of
facilitating quantity (mass) production, and the driver's cabs are
detachably secured to the extreme outer ends of the end car bodies.
This feature, however, is mere incidental and is not an essential
part of the present invention.
Each linear-motor driving bogie 4 for driving the vehicles
supported in the above described manner straddles the reaction rail
2 vertically installed along the centerline of the roadway 1 and is
provided with a linear motor 18 disposed on opposite flank sides of
the web of the reaction rail 2 in close proximity thereto. The
linear motor 18 is supported by and within a linear-motor frame 15
constituting the main body structure of the driving bogie 4 and
provided near each of its front and rear ends with four guide
wheels 17 rotatably supported with vertical axes, two wheels
thereof being on each side of the reaction rail 2 to clamp and roll
along the web thereof, and with a wheel 16 with a horizontal axis
supporting the driving bogie and rolling on the upper flange of the
reaction rail 2.
The guide wheels 17 and support wheels 16 thus guide the driving
bogie 4 and, at the same time, function to maintain the gaps
between the linear motor 18 and the reaction rail 2 at optimum
values. As mentioned briefly hereinbefore, the two ends of each
driving bogie 4, that is, the linear-motor frame 15, are connected
by vertical coupling pins 20 to the ends of the adjacent coupled
car bodies 5. Thus, the driving bogie 4 and coupling pins 20
function also in the manner of couplers of a railway train, whereby
a train composed of any required number of cars can be successively
coupled and assembled.
A third rail 21 parallel to reaction rail 2 is provided for contact
with the driving bogie 4 for driving and braking each car. Driving
and braking can be accomplished by changing over taps and switching
phases of a three-phase alternating current fed from the third rail
21 or by feeding a single-phase alternating current or a direct
current and carrying out phase control or frequency control by
means of an inverter.
While driving and guiding of the vehicle cars and supporting of the
car bodies can be accomplished by means of the above described
vehicle and railway constructions, it is further necessary to
satisfy further one more requirement, which is that of operating a
train safely and efficiently along curves in the roadway 1.
When a train of cars as described above enters a curve in the
roadway 1, very large side forces would be imparted since each
driving bogie 4 and corresponding coupled car bodies 5 are
connected by coupling pins 20 if the cars were not provided with
means for relieving such forces. Accordingly, it is necessary to
determine the displacements of the driving bogie 4 and car bodies 5
and to accomplish steering of the support wheels 3 of each car body
5. This problem of running along a curved path will now be
considered in specific terms with reference to FIG. 2.
In FIG. 2, line GHIY represents the path of a curved roadway; line
XY is a tangent to this curved path at the fore-and-aft middle
point Y of one car body 5a; and line IMN (dot-and-dash line) is the
longitudinal centerline of the car body 5a and is displaced
parallelly from tangent line XY of the curved path. Line JK is the
longitudinal centerline of the leading car body 5b; points A and D
designate support points on both sides of linear-motor frame 15;
and points B, C, E, and F are pin joints of interconnecting links
14 and links 19.
Points P.sub.1, Q.sub.1, P.sub.2, and Q.sub.2 and points P.sub.3,
Q.sub.3, P.sub.4, and Q.sub.4 are pivot points of the right and
left links 10 and 10a of the trailing car and leading car,
respectively, and points R.sub.1, S.sub.1, R.sub.2, and S.sub.2 and
points R.sub.3, S.sub.3, R.sub.4, and S.sub.4 are pin joints
between right and left links 10 and 10a and corresponding axle
block shafts 11 of the trailing and leading cars, respectively.
Points T.sub.1, U.sub.1, T.sub.2, and U.sub.2 designate the
positions prior to movement respectively of pin joints R.sub.1,
S.sub.1, R.sub.2, and S.sub.2. Points V.sub.1, V.sub.2, V.sub.3,
and V.sub.4 designate the centers of axle blocks 12 of the right
and left wheels of the trailing and leading cars, respectively; and
reference characters W.sub.1, W.sub.2, W.sub.3, and W.sub.4
designate positions at which support wheels 3 are respectively
mounted on axles held by the axle blocks 12.
Pin joints C, F, B and E, which connect interconnecting links 14
and links 19 are spaced apart from support points A and D on
opposite lateral sides of the linear-motor frame 15 at distances
necessary for reasons of construction such as that of the third
rail 21. Pin joints B and E are connected by respective
interconnecting links 14 to pin joints S.sub.3 and S.sub.4 on the
right and left sides of the leading car, while pin joints C and F
are connected by respective interconnecting links 14 to pin joints
R.sub.1 and R.sub.2 on the right and left sides of the trailing
car.
Furthermore, the support wheels 3 are mounted with distances
W.sub.1 V.sub.1, W.sub.2 V.sub.2, W.sub.3 V.sub.3, and W.sub.4
V.sub.4 from the centers V.sub.1, V.sub.2, V.sub.3, and V.sub.4 of
their respective axle blocks 12, which are rotatable about their
shafts 11, these distances being necessary for the installation of
coil springs 13 and other parts.
When a car combination of the above described construction enters a
curve in the roadway 1, the driving bogie 4 is guided along curve
JHIY by guide wheels 17 provided near the front and rear ends of
its linear-motor frame 15, whereby links 10 and 10a of the trailing
car are caused by interconnecting links 14 to undergo angular
displacement about pin joints P.sub.1, Q.sub.1, P.sub.2, and
Q.sub.2 on the side of the car and the pin joints at the free or
distal ends of the links 10a and 10 move from their original
positions T.sub.1, U.sub.1, T.sub.2, and U.sub.2 to points R.sub.1,
S.sub.1, R.sub.2, and S.sub.2, for example.
When the cars are traveling along a straightline roadway, the
centerlines of the driving bogie 4 and of the car bodies 5a and 5b
coincide, and the pin joints C and F of links 19 and 14 are
positioned symmetrically with respect to the centerline.
Accordingly, the pin joints R.sub.1, S.sub.1, R.sub.2, and S.sub.2
of the right and left links 10a and 10, the positions of which pin
joints are determined by the interconnecting links 14, are
respectively at positions T.sub.1, U.sub.1, T.sub.2 and U.sub.2,
and the right and left support wheels 3 are directionally parallel
to the centerline of the car.
When the cars enter a curve in the roadway, and driving bogie 4
undergoes a displacement, pin joints R.sub.1, S.sub.1, R.sub.2, and
S.sub.2 also undergo displacements from points T.sub.1, U.sub.1,
T.sub.2, and U.sub.2 in accordance with the displacement of driving
bogie 4, and the directions of the support wheels 3 are changed to
directions parallel to a tangent to the curved path along which the
cars are to travel.
Therefore, by appropriately selecting the respective positions of a
pivotal points P.sub.1, Q.sub.1, P.sub.2, and Q.sub.2 on the car
body side of links 10a and 10 and the lengths of the body shafts 9,
links 10 and 10a, and shafts 11, it is possible to satisfy the
above described condition within a specified range of curvatures of
curves through which the cars are to travel.
The example described above is that of a vehicle having a
suspension system with independent wheel organization and propelled
by linear-motor driving bogies. In another embodiment of the
invention as illustrated in FIGS. 5, 6, 7, and 8, it is also
possible to utilize practically a linear-motor drive system by a
similar method for a four-wheel arrangement of conventional
type.
The vehicle of this example runs along a roadway 31 provided with a
central reaction rail 32 and a third rail 51. The essential parts
of each car, most of which are similar to those of the
aforedescribed example, are support wheels 33, linear-motor driving
bogies 34, a car body 35, longitudinal beams 37 fixed to the car
body, fixed links 38, rotatable shafts 39, links 40 and 40a, shafts
41, axle blocks 42, coil springs 43, and interconnecting links 44
interconnecting the wheel and suspension assemblies to the driving
bogie 34.
The driving bogie 34 comprises, essentially, a linear-motor frame
45 centrally pivoted by a center pin 50, wheels 46 for supporting
the driving bogie, guide wheels 47, a linear motor 48 supported by
the linear-motor frame, and a bracket 49 fixed to the linear-motor
frame.
Each car body 35 is supported fore and aft by a so-called two-axle
suspension system, in which of the front and rear axles is cut at
its central part to form independent wheel suspension devices.
Referring to FIGS. 7 and 8, a longitudinal beam 37 is fixed to the
bottom of the car body 35 on each of the left and right sides
thereof and supports fixed links 38 fixed thereto. The links 38 are
coupled by way of rotatable shaft 39, links 40 and 40a, and shaft
41 to axle block 42, on which are mounted two coil springs 43
supporting the car body 35. The axle block 42 supports an axle (not
shown) on which two support wheels 33 with tires are mounted.
The independent wheel suspension mechanism of the above described
organization is interlinked through link 44 to the linear-motor
type driving bogie 34, link 44 being pin connected at one end
thereof to one end of shaft 41 and at the other end thereof to
bracket 49. Accordingly, the car body 35 in the instant example
travels along roadway 31 as it is supported by independent wheel
and suspension devices each having two support wheels 33.
Each of the linear-motor driving bogies 34 for driving this car has
a linear-motor frame 45 supporting therewithin the linear motor 48
in a position such that the motor is disposed to confront the
opposite flanks of the web of the reaction rail 32 installed
upright along the center of the roadway 31. The four guide wheels
47 provided near the front and rear of each linear-motor frame 45
and the bogie supporting wheels 46 function to guide the bogie and,
at the same time, to maintain the optimum gaps between the linear
motor 48 and the reaction rail 32. The pivot pin 50 connecting the
center of the linear-motor frame 45 to the car body 35 has the same
construction and operation as a bogie of a conventional railway
car.
The driving and braking of the car is accomplished by changing over
taps and switching phases of three-phase AC power supplied from the
third rail 51, or, alternatively, by supplying single-phase AC
power or DC power and controlling phase or frequency by means of an
inverter.
When a train of a plurality of these cars enters a curve in the
roadway 31, very large side forces would be imparted since each
driving bogie 34 and its car body 35 are connected by a pivot pin
50 if means for relieving such forces were not provided.
Accordingly, it is necessary to detect the displacements of the
driving bogie 34 and the car body 35 and to effect steering of the
support wheels 33 of the car body 35 in the manner described below
with reference to FIG. 6.
In FIG. 6, line Ga Ma Ya represents a curved path of vehicle
travel, and line Xa Ya is a tangent to the curved path at the
middle point Ya of the car body 35 in the fore-and-aft direction
thereof. Line La Ma Na (intermittent line) is the centerline of the
car body 35 and is offset to one side from and parallelly to
tangent line Xa Ya by a distance equal to the displacement of pivot
pin 50 from the original point.
Points Aa and Ba are support points at the front and rear parts of
the linear-motor frame 45, and one end of interconnecting link 44
is pin connected to support point Aa. These pivots shift to
positions Ca and Da, for example, when the vehicle enters a curve
in the roadway. The corresponding positions after this shift of the
support points of the right and left links 40 and 40a are
designated by Pa.sub.1, Qa.sub.1, Pa.sub.2, and Qa.sub.2, and the
corresponding positions of the support points at the ends of the
shafts 41 are designated by Ra.sub.1, Sa.sub.1, Ra.sub.2, and
Sa.sub.2.
Points Ea.sub.1, Fa.sub.1, Ea.sub.2, and Fa.sub.2 designate the
pivot points of the links 40 and 40a on the car body side prior to
the shift, and points Ta.sub.1, Ua.sub.1, Ta.sub.2, and Ua.sub.2
designate the pivot points on the wheel side prior to the shift.
Points Va.sub.1 designate the centers of the axle blocks 42, and
points Wa.sub.1 and Wa.sub.2 indicate the mounting positions of the
support wheels 33 with respect to the centers of the axle blocks
42, the support wheels 33 being thus mounted with distances
Wa.sub.1 Va.sub.1 and Wa.sub.2 Va.sub.2 necessary for installing
parts such as the coil springs 43 on the axle blocks 42 which are
rotatable about the shafts 41.
When a train of cars each of the above described organization
enters a curve, driving bogie 34 is guided along path GaCaDaYa at
points Ca and Da by guide wheels 47 provided at the front and rear
of linear-motor frame 45 of the driving bogie, and pivot pin 50
shifts to point Ma. Accordingly, pivot points Pa.sub.1, Qa.sub.1,
Pa.sub.2, and Qa.sub.2 on the car body side respectively shift from
their former positions Ea.sub.1, Fa.sub.1, Ea.sub.2, and Fa.sub.2,
while pivot points Ra.sub.1, Sa.sub.1, Ra.sub.2, and Sa.sub.2
respectively shift from their former positions Ta.sub.1, Ua.sub.1,
Ta.sub.2, and Ua.sub.2. Thus, positioning (steering) of the wheel
and suspension system is accomplished automatically and in an
appropriate manner from front support pivot point Ca of
linear-motor frame 45 through link 44.
When the vehicle is running along a straightline path, pivot points
Aa and Ba of driving bogie 34 are on the car body centerline.
Consequently, pivot points Ra.sub.1, Sa.sub.1, Ra.sub.2, and
Sa.sub.2 of links 40 and 40 a, the positions of which are
determined by links 44, are respectively at positions Ta.sub.1,
Ua.sub.1, Ta.sub.2, and Ua.sub.2, and the right and left support
wheels 33 are aligned parallelly to the car body centerline.
When the vehicle enters a curve, a driving bogie 34 undergoes a
displacement, whereby pivot points Ra.sub.1, Sa.sub.1, Ra.sub.2,
and Sa.sub.2 are caused to shift from positions Ta.sub.1, Ua.sub.1,
Ta.sub.2, and Ua.sub.2 in accordance with this displacement, and
the directions of support wheels 33 are changed to align with the
tangent direction of the curve along which vehicle is to travel.
Therefore, by appropriately selecting the positions of the pivot
points Ea.sub.1, Fa.sub.1, Ea.sub.2, and Fa.sub.2 on the car body
side of the links 40 and 40a and the lengths of the links 40 and
40a and rotatable shafts 41, the above stated conditions can be
satisfied within a specified curvature of the curve through which
the vehicle is to pass.
* * * * *