Robotic bridging system

Patent metadata

Field	Value
Publication number	US-10633808-B2
Application number	US-201816144689-A
Country	US
Kind code	B2
Filing date	Sep 27, 2018
Priority date	Sep 27, 2018
Publication date	Apr 28, 2020
Grant date	Apr 28, 2020

Abstract

UGV bridging system includes a first end of a first elongated span of a hinged bridge structure disposed on a deployment support bracket which is secured to a UGV. A second elongated span is hingedly supported at a second end of the first elongated span opposed from the first end. A tension element applies a tension force to the first elongated span at a location intermediate the first and second ends. The tension force secures the first elongated span in a stowed position adjacent the deployment support bracket. A retention element associated with the deployment support bracket prevents the second elongated span from rotating about the hinge axis in response to a spring bias force. Deployment involves pivoting the first elongated span and concurrently releasing the second elongated span from the retention element in response to the extending.

First claim

We claim:

1. A method for bridging an obstacle with an unmanned ground vehicle (UGV) bridging system, comprising:
supporting a first end of a first elongated span of a hinged bridge structure on a deployment support bracket which is secured to a UGV;
at a second end of the first elongated span opposed from the first end, hingedly supporting a second elongated span on a hinge system having a hinge axis aligned transverse to an elongated length of the first and second elongated spans;
using a tension element to apply a tension force to the first elongated span at a location intermediate the first and second ends to secure the first elongated span in a stowed position adjacent the deployment support bracket;
using a retention element disposed on the deployment support bracket to prevent a spring bias assembly, which is coupled to the hinge system, from urging rotation of the second elongated span about the hinge axis from a closed configuration in which the second elongated span is adjacent to the first elongated span to an open configuration in which the second elongated span forms an obtuse angle with the first elongated span; and
deploying the hinged bridge structure by extending a length of the tension element.

2. The method according to claim 1 , wherein the deploying comprises pivoting the first elongated span about the first end, and concurrently releasing the second elongated span from the retention element in response to the extending.

3. The method according to claim 2 , wherein the deploying operation comprises using a travel limiting element to limit a maximum rotation of the second elongated span about the hinge axis relative to the first elongated span.

4. The method according to claim 1 , further comprising continuing to pivot the first elongated span about the first end by further extending the tension element until tension is relieved on the tension element.

5. The method according to claim 4 , further comprising passively releasing the first end of the first elongated span from a pivot structure disposed on the deployment support bracket.

6. The method according to claim 4 , further comprising automatically disconnecting the tension element from a receiver in the first elongated span by reducing a magnitude of tension applied by the tension element.

7. The method according to claim 1 , further comprising using the tension force which is applied to the first elongated span when in the stowed position to indirectly facilitate retention of the second elongated span by the retention element.

8. The method according to claim 1 , further comprising controlling the length of the tension element using a rotating spool which is controlled by an actuator.

9. A method for bridging an obstacle with an unmanned ground vehicle (UGV) bridging system, comprising:
supporting a first end of a first elongated span of a hinged bridge structure on a deployment support bracket which is secured to a UGV;
at a second end of the first elongated span opposed from the first end, hingedly supporting a second elongated span on a hinge system having a hinge axis aligned transverse to an elongated length of the first and second elongated spans;
using a tension element to apply a tension force to the first elongated span at a location intermediate the first and second ends to secure the first elongated span in a stowed position adjacent the deployment support bracket;
using a retention element disposed on the deployment support bracket to prevent a spring bias force acting on the second elongated span from causing the second elongated span from rotating about the hinge axis from a closed configuration in which the second elongated span is adjacent to the first elongated span to an open configuration in which the second elongated span forms an obtuse angle with the first elongated span; and
deploying the hinged bridge structure by extending a length of the tension element, where the deploying comprises (i) pivoting the first elongated span about the first end, (ii) concurrently releasing the second elongated span from the retention element in response to the extending, and (iii) using a travel limiting element to limit a maximum rotation of the second elongated span about the hinge axis relative to the first elongated span; and
selectively setting the travel limiting element in accordance with a user selectable magnitude of the obtuse angle.

10. A robotic bridging system for a UGV, comprising;
a hinged bridge structure comprising
a first elongated span which extends from a first end to a second end opposed from the first end;
a second elongated span attached to the second end of the first elongated span by a hinge system which defines a hinge axis aligned transverse to an elongated length of the first and second elongated spans;
a spring bias assembly configured to urge rotation of the second elongated span about the hinge axis from a closed configuration in which the second elongated span is adjacent to the first elongated span to an open configuration in which the second elongated span forms an obtuse angle with the first elongated span; and

a deployment support bracket configured for attachment to a UGV, the deployment support bracket including
a pivot member configured to pivotally support the first end of the first elongated span;
a tension element deployment device configured to selectively control a variable length of an extended portion of an elongated tension element which is releasably secured at an end thereof to the first elongated span at a location intermediate the first and second ends when the first elongates span is in a stowed position adjacent the deployment support bracket; and
a retention element configured to selectively prevent transition of the second elongated span from closed configuration to the open configuration when the first elongated span is in the stowed position.

11. The robotic bridging system according to claim 10 , wherein the hinged bridge structure is configured to transition from a stowed configuration in which the first elongated span is in the stowed position and the second elongated span is in the closed position, to a deployed configuration in which the first elongated span is pivoted on the pivot member away from the stowed position, and the second elongated span is in the open position.

12. The robotic bridging system according to claim 11 , wherein the transition is exclusively in response to increasing the variable length of the extended portion of the tension element from a stowed length to an deployment length longer than the stowed length.

13. The robotic bridging system according to claim 10 , wherein the hinged bridge structure and the deployment support bracket are responsive to extending the variable length of the tension element to cause the first elongated span to pivot about the first end, and cause the retention element to concurrently release the second elongated span.

14. The robotic bridging system according to claim 11 , further comprising a travel limiting element configured to limit a maximum magnitude of the obtuse angle when the second elongated span is rotated about the hinge axis.

15. The robotic bridging system according to claim 14 , wherein the travel limiting element is configured to selectively control the maximum magnitude of the obtuse angle.

16. The robotic bridging system according to claim 10 , wherein the first end of the first elongated span is configured to be passively released from the pivot member and the deployment support bracket when a tension force exerted by the elongated tension element is removed.

Assignees

• Eagle Tech Llc

Inventors

• Bowman Michael E
• Meehan Robert
• Bosscher Paul M

Classifications

• E01D15/127 Primary

  combined with ground-supported vehicles for the transport, handling or placing of such bridges or of sections thereof · CPC title

• E01D21/06

  by translational movement of the bridge or bridge sections {(E01D15/127, E01D15/133 and E01D21/10 take precedence)} · CPC title

• E01D15/005

  Movable bridges in general (floating bridges with sections movable to allow passing of water-borne traffic E01D15/145; lock gates E02B7/20); Constructional elements peculiar to movable bridges · CPC title

• G05B2219/40298

  Manipulator on vehicle, wheels, mobile · CPC title

• E01D15/124

  Folding or telescopic bridges; Bridges built up from folding or telescopic sections (E01D15/122, E01D15/127 take precedence; folding or telescopic girders in general E04C3/005) · CPC title