Conformal suspension for unmanned ground vehicle
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B25J-005/00
B60G-005/00
B60G-005/01
B60G-005/04
B62D-055/075
B62D-055/108
B62D-055/14
B62D-055/30
B62D-057/024
출원번호
US-0678237
(2015-04-03)
등록번호
US-10065690
(2018-09-04)
발명자
/ 주소
Summer, Matthew D.
Bosscher, Paul M.
Murphy-DuBay, Nicholas
출원인 / 주소
Harris Corporation
대리인 / 주소
Fox Rothschild LLP
인용정보
피인용 횟수 :
0인용 특허 :
13
초록▼
A ground vehicle suspension system includes first and second rocker-bogie mechanisms which are respectively secured to a chassis on opposing sides of a central axis. Each rocker-bogie mechanism includes a main link on which a first and second bogie is respectively pivotally mounted. The first and se
A ground vehicle suspension system includes first and second rocker-bogie mechanisms which are respectively secured to a chassis on opposing sides of a central axis. Each rocker-bogie mechanism includes a main link on which a first and second bogie is respectively pivotally mounted. The first and second bogie each has opposing inner and outer bogie end portions. On each bogie, an inner wheel is disposed on an inner stub axle and an outer wheel is disposed on an outer stub axle. A continuous track is guided on the inner and outer wheels of the first bogie and second bogie. A resilient member extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie.
대표청구항▼
1. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length;a suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a
1. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length;a suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;a first and a second pivot mechanism respectively disposed at the first and second link end portions of the main link;a first bogie and a second bogie which are respectively mounted to the main link on the first and second pivot mechanisms to respectively pivot about a first and a second pivot axis which are each transverse to the center axis, the first and second bogie each extending a second distance parallel to the central axis so that each defines opposing inner and outer bogie end portions, with the inner bogie end portion of the first bogie adjacent to the inner bogie end portion of the second bogie;on each of the first and second bogie, an inner and outer stub-axle is respectively located at the inner and outer bogie end portion, an inner wheel is disposed on the inner stub axle and an outer wheel is disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and the second bogie; anda resilient member which extends between the first and second bogie along a resilient member axis which is transverse to the first and second pivot axis, and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;wherein the resilient member axis is substantially aligned with the first and second pivot axis when a portion of the continuous track extends linearly between the outer wheels of the first and second bogies. 2. The ground vehicle according to claim 1, wherein the resilient member has a predetermined stiffness characteristic which causes the resilient member to urge said second bogie to a rotational orientation that is symmetric to a rotational orientation of the first bogie when the first bogie is pivoted about the first pivot axis. 3. The ground vehicle according to claim 1, further comprising a drive motor for urging the continuous track along the inner and outer wheels of both the first bogie and the second bogie in a continuous loop. 4. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length; anda suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;a first and a second pivot mechanism respectively disposed at the first and second link end portions of the main link;a first bogie and a second bogie which are respectively mounted to the main link on the first and second pivot mechanisms to respectively pivot about a first and a second pivot axis which are each transverse to the center axis, the first and second bogie each extending a second distance parallel to the central axis so that each defines opposing inner and outer bogie end portions, with the inner bogie end portion of the first bogie adjacent to the inner bogie end portion of the second bogie;on each of the first and second bogie, an inner and outer stub-axle is respectively located at the inner and outer bogie end portion, an inner wheel is disposed on the inner stub axle and an outer wheel is disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and the second bogie; anda resilient member which extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;wherein the resilient member extends along a resilient member axis which is transverse to the first and second pivot axis; andwherein an exterior face of the continuous track extending between the outer wheels of the first and second bogies defines a primary terrain engagement surface and the resilient member axis is substantially aligned with the first and second pivot axis when the primary terrain engagement surface extends linearly between the outer wheels. 5. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length;a suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;a first and a second pivot mechanism respectively disposed at the first and second link end portions of the main link;a first bogie and a second bogie which are respectively mounted to the main link on the first and second pivot mechanisms to respectively pivot about a first and a second pivot axis which are each transverse to the center axis, the first and second bogie each extending a second distance parallel to the central axis so that each defines opposing inner and outer bogie end portions, with the inner bogie end portion of the first bogie adjacent to the inner bogie end portion of the second bogie;on each of the first and second bogie, an inner and outer stub-axle is respectively located at the inner and outer bogie end portion, an inner wheel is disposed on the inner stub axle and an outer wheel is disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and the second bogie; anda resilient member which extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;a manipulator arm coupled to the chassis; andat least one travel limiter structure coupled to the chassis or main link at a position selected to inhibit a pivot motion of the first or second bogie about the first or second pivot axis when use of the manipulator arm exerts a torque on the ground vehicle;wherein an exterior face of the continuous track extending between the outer wheels of the first and second bogies defines a primary terrain engagement surface,the first and second pivot mechanisms are respectively aligned with a force axis of the resilient member to facilitate a pivot motion of the first bogie in a first rotation direction from a first bogie rest position and a symmetric pivot motion of the second bogie in a second rotation direction from a second bogie rest position, the second rotation direction opposite to the first rotation direction,the first and second rotation directions facilitate a concave deformation of the exterior face when a deformation force is exerted upon the exterior face in the direction toward the main link. 6. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length; anda suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;a first and a second pivot mechanism respectively disposed at the first and second link end portions of the main link;a first bogie and a second bogie which are respectively mounted to the main link on the first and second pivot mechanisms to respectively pivot about a first and a second pivot axis which are each transverse to the center axis, the first and second bogie each extending a second distance parallel to the central axis so that each defines opposing inner and outer bogie end portions, with the inner bogie end portion of the first bogie adjacent to the inner bogie end portion of the second bogie;on each of the first and second bogie, an inner and outer stub-axle is respectively located at the inner and outer bogie end portion, an inner wheel is disposed on the inner stub axle and an outer wheel is disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and the second bogie; and a resilient member which extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;a robotic manipulator arm mounted on said chassis;at least a first travel limiter structure fixed to the chassis or to the main link, positioned to limit a pivot motion of the first bogie in a second rotation direction from a first bogie rest position;wherein an exterior face of the continuous track extending between the outer wheels of the first and second bogies defines a primary terrain engagement surface,the first and second pivot mechanisms are respectively aligned with a force axis of the resilient member to facilitate a pivot motion of the first bogie in a first rotation direction from the first bogie rest position and a symmetric pivot motion of the second bogie in the second rotation direction from a second bogie rest position, the second rotation direction opposite but to the first rotation direction, wherein the first and second rotation directions facilitate a concave deformation of the exterior face when a deformation force is exerted upon the exterior face in the direction toward the main link; andwherein the first travel limiter structure inhibits a rotation of the main link about the first pivot axis when a first torque is exerted on the chassis by the robotic manipulator arm. 7. The ground vehicle according to claim 6, further comprising: a second travel limiter fixed to the chassis or to the main link which limits a pivot motion of the second bogie in the first rotation direction from the second bogie rest position;wherein the second travel limiter structure inhibits rotation of the main link about the second pivot axis when a second rotational torque is exerted on the chassis by the robotic manipulator arm. 8. The ground vehicle according to claim 6, wherein the first travel limiter structure prevents a distal end portion of the robotic manipulator arm from drooping during times when the robotic manipulator arm is extended horizontally or is lifting heavy objects. 9. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length; anda suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;a first and a second pivot mechanism respectively disposed at the first and second link end portions of the main link;a first bogie and a second bogie which are respectively mounted to the main link on the first and second pivot mechanisms to respectively pivot about a first and a second pivot axis which are each transverse to the center axis, the first and second bogie each extending a second distance parallel to the central axis so that each defines opposing inner and outer bogie end portions, with the inner bogie end portion of the first bogie adjacent to the inner bogie end portion of the second bogie;on each of the first and second bogie, an inner and outer stub-axle is respectively located at the inner and outer bogie end portion, an inner wheel is disposed on the inner stub axle and an outer wheel is disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and the second bogie; anda resilient member which extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;wherein the outer wheel is larger in diameter as compared to the inner wheel. 10. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length;a suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;first and second bogies respectively pivotally mounted to the main link at opposing ends thereof so as to respectively pivot about a first and a second pivot axis, the first and second bogie each having opposing inner and outer bogie end portions;an inner and outer stub-axle respectively located at each of the inner and outer bogie end portions, with an inner wheel disposed on the inner stub axle and an outer wheel disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and second bogie; anda resilient member which extends between the first and second bogie along a resilient member axis which is transverse to the first and second pivot axis, and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;wherein the resilient member is substantially aligned with the first and second pivot axis when a portion of the continuous track extends linearly between the outer wheels of the first and second bogies. 11. The ground vehicle according to claim 10, wherein the resilient member has a predetermined stiffness characteristic which urges said second bogie to a rotational orientation that is symmetric to a rotational orientation of the first bogie when the first bogie is pivoted about the first pivot axis. 12. The ground vehicle according to claim 10, wherein an exterior face of the continuous track extends between the outer wheels of the first and second bogies to define a primary terrain engagement surface,the first bogie is arranged to pivot in a first rotation direction from a first bogie rest position and the second bogie is arranged to pivot in a second rotation direction from a second bogie rest position, the second rotation direction opposite to the first rotation direction, andthe first and second rotation directions facilitate a concave deformation of the exterior face when a deformation force is exerted upon the exterior face in the direction toward the main link. 13. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length; anda suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;first and second bogies respectively pivotally mounted to the main link at opposing ends thereof so as to respectively pivot about a first and a second pivot axis, the first and second bogie each having opposing inner and outer bogie end portions;an inner and outer stub-axle respectively located at each of the inner and outer bogie end portions, with an inner wheel disposed on the inner stub axle and an outer wheel disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and second bogie; anda resilient member which extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;wherein the resilient member extends along a resilient member axis which is transverse to the first and second pivot axis; andwherein the continuous track to defines a primary terrain engagement surface which extends from the outer wheel of the first bogies to the outer wheel of the second bogie, and the resilient member axis is substantially aligned with the first and second pivot axis when the primary terrain engagement surface extends linearly between the outer wheel of the first bogie and second bogie. 14. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length;a suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;first and second bogies respectively pivotally mounted to the main link at opposing ends thereof so as to respectively pivot about a first and a second pivot axis, the first and second bogie each having opposing inner and outer bogie end portions;an inner and outer stub-axle respectively located at each of the inner and outer bogie end portions, with an inner wheel disposed on the inner stub axle and an outer wheel disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and second bogie; anda resilient member which extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;a robotic manipulator arm mounted on said chassis; andat least a first travel limiter structure fixed to the chassis or to the main link, positioned to limit a pivot motion of the first bogie in a second rotation direction from a first bogie rest position;wherein an exterior face of the continuous track extends between the outer wheels of the first and second bogies to define a primary terrain engagement surface,the first bogie is arranged to pivot in a first rotation direction from the first bogie rest position and the second bogie is arranged to pivot in the second rotation direction from a second bogie rest position, the second rotation direction opposite to the first rotation direction, andthe first and second rotation directions facilitate a concave deformation of the exterior face when a deformation force is exerted upon the exterior face in the direction toward the main link; andwherein the first travel limiter structure inhibits rotation of the main link around the first pivot axis when a first torque is exerted on the chassis by the robotic manipulator arm; and wherein the resilient member axis (a) extends along a resilient member axis which is transverse to the first and second pivot axis, and (b) is substantially aligned with the first and second pivot axis pivot axis when a portion of the continuous track extends linearly between the outer wheels of the first and second bogies. 15. The ground vehicle according to claim 14, further comprising: a second travel limiter fixed to the chassis or to the main link which limits a pivot motion of the second bogie in the first rotation direction from the second bogie rest position;wherein the second travel limiter inhibits rotation of the main link around the second pivot axis when a second torque is exerted on the chassis by the robotic manipulator arm in a direction opposite that of the first torque. 16. The ground vehicle according to claim 14, wherein the first travel limiter structure is selectively adjustable to variably control a permitted amount of rotation of the main link around the pivot axis. 17. A ground vehicle, comprising: a chassis having a central axis which extends along a chassis length; anda suspension system including first and second rocker-bogie mechanisms which are respectively secured to the chassis on opposing sides of the central axis, each rocker-bogie mechanism comprising: a main link formed of a rigid material that is fixed to the chassis and extends a first distance along the chassis length to define opposing first and second link end portions;first and second bogies respectively pivotally mounted to the main link at opposing ends thereof so as to respectively pivot about a first and a second pivot axis, the first and second bogie each having opposing inner and outer bogie end portions;an inner and outer stub-axle respectively located at each of the inner and outer bogie end portions, with an inner wheel disposed on the inner stub axle and an outer wheel disposed on the outer stub axle;a continuous track which is guided on the inner and outer wheels of both the first bogie and second bogie; anda resilient member which extends between the first and second bogie and is attached at one end to the inner bogie end portion of the first bogie and at an opposing end to the inner bogie end portion of the second bogie;wherein the outer wheel is larger in diameter as compared to the inner wheel.
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이 특허에 인용된 특허 (13)
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