Conformal suspension for unmanned ground vehicle

Patent metadata

Field	Value
Publication number	US-10065690-B2
Application number	US-201514678237-A
Country	US
Kind code	B2
Filing date	Apr 3, 2015
Priority date	Apr 3, 2015
Publication date	Sep 4, 2018
Grant date	Sep 4, 2018

Abstract

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.

First claim

We claim:

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; and
a 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; and
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; 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;
wherein the resilient member extends along a resilient member axis which is transverse to the first and second pivot axis; and
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 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; 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 manipulator arm coupled to the chassis; and
at 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; and
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 defi

Assignees

• Harris Corp

Inventors

• Summer Matthew D
• Bosscher Paul M
• Murphy-Dubay Nicholas

Classifications

• B62D55/14

  Arrangement, location, or adaptation of rollers · CPC title

• B62D55/305

  acting on pivotably mounted idlers · CPC title

• B62D55/00

  Endless track vehicles (steering aspects B62D11/00; {characterised by the driver not being seated B62D51/007}) · CPC title

• B25J5/005

  mounted on endless tracks or belts · CPC title

• B60G5/04

  with two or more pivoted arms, the movements of which are resiliently interrelated {, e.g. the arms being rigid} · CPC title