Reconfigurable wheel-track assembly with bowtie configuration

Patent metadata

Field	Value
Publication number	US-12195113-B2
Application number	US-202017433802-A
Country	US
Kind code	B2
Filing date	Apr 29, 2020
Priority date	Apr 29, 2019
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

The Reconfigurable Wheel-Track (RWT) device is a novel mechanism that allows a wheel to transform into a track, and vice versa. The wheel mode allows a vehicle to travel quickly over smooth and semi-rough terrain, then, on-the-fly, transform rapidly into a powered track mode for crossing extreme terrain. The reconfigurable wheeltrack device comprises several main components: an outer tire/tread, a drive mechanism for driving the tread when in track mode and a reconfiguration mechanism that facilitates the transformation from wheel mode to track mode and vice versa. The reconfigurable wheel-track includes sensing, actuation, and controls to facilitate efficient and effective transitions, and securely maintain each wheel and track shape.

First claim

The invention claimed is:

1. A reconfigurable wheel-track device for a vehicle, comprising:
a tread; and
an assembly comprising:
a plurality of support members;
a support member transition mechanism for transitioning the plurality of support members between a wheel mode and a track mode;
a sprocket configuration mechanism for articulating a plurality of sprockets between the wheel mode and the track mode; and
a sprocket driving mechanism for driving the plurality of sprockets when in the track mode;

wherein the wheel-track device switches between the wheel mode and the track mode when the vehicle is in motion.

2. The device of claim 1 , wherein each of the plurality of support members has a generally bowtie-shaped configuration.

3. The device of claim 1 , each of the plurality of support members further comprising a plurality of bogies positioned along an outer edge of the support member.

4. The device of claim 3 , the plurality of bogies rotating freely with respect to the support member.

5. The device of claim 1 , the transition mechanism transitioning the plurality of support members between a fully horizontal configuration when in the track mode and a rotated configuration when in the wheel mode.

6. The device of claim 1 , the plurality of support members comprising two sets of two support members, one set of support members disposed on an inner side of the assembly and another set of support members disposed on an outer side of the assembly.

7. The device of claim 6 , the support member transition mechanism comprising:
a drive motor; and
gearing, driven by the drive motor, to rotate one support member of each set of support members in a clockwise direction, and the other support member of each set of support members in a counterclockwise direction.

8. The device of claim 7 wherein, when in the wheel mode, a longitudinal line of each support member in each set of support members are in an orthogonal configuration and, when in the track mode, the longitudinal line of each support member in each set of support members are in a parallel configuration.

9. The device of claim 1 , the sprocket configuration mechanism articulating a plurality of sprockets between a first position, when in the wheel mode and a second position when in the track mode to accommodate different shapes of the track in each mode.

10. The device of claim 9 , the sprocket configuration mechanism comprising:
a drive motor;
a plurality of sprocket carriers, each sprocket carrier coupled to one or more sprockets; and
a plurality of screw members, coupled to the sprocket carriers; and
gearing, driven by the drive motor, to rotate the plurality of screw members which, when rotated, move the plurality of sprocket carriers inwardly or outwardly, depending upon the direction of rotation.

11. The device of claim 1 , the sprocket driving mechanism comprising:
a planetary gear, driven by a shaft of the vehicle;
an input shaft, connected to the planetary gear; and

a miter gear, driven by the input shaft, for driving multiple splined sprocket drive shafts.

12. The device of claim 11 , the splined sprocket drive shafts allowing the articulation of the sprockets during the transition between the wheel mode and the track mode.

13. The device of claim 11 , further comprising:
a sprocket brake; and
a brake shaft coupled to the sprocket drive brake;
wherein the brake shaft is coupled to the miter gear; and
wherein, when in the wheel mode, the sprocket brake is engaged, thereby preventing rotation of the sprockets.

14. The device of claim 1 , wherein the assembly and the tread, when in the wheel mode, rotate as a unit, driven by a drive shaft of the vehicle.

15. The device of claim 1 , wherein the assembly, when in the track mode, is stationary with respect to the tread.

16. The device of claim 15 , further comprising:
an assembly brake;
wherein the assembly brake, when in the track mode, prevents the assembly from rotating with the tread.

17. A method of transitioning the device of claim 1 , from the wheel mode to the track mode comprising:
engaging an assembly brake to slow the rotation of the assembly;
engaging the transition mechanism to transition the support members from a wheel mode configuration to a track mode configuration;
engaging the sprocket configuration mechanism to articulate the sprockets toward the outside of the device; and
disengaging a sprocket brake to allow the sprockets to be driven by a shaft of the vehicle.

18. The method of claim 17 wherein, when in the track mode, the assembly is not rotating.

19. A method of transitioning the device of claim 1 , from the track mode to the wheel mode comprising:
engaging the sprocket configuration mechanism to articulate the sprockets toward the inside of the device;
engaging a sprocket brake to prevent rotation of the sprockets;
disengaging an assembly brake to allow rotation of the assembly; and
engaging the transition mechanism to transition the support members from a track mode configuration to a wheel mode configuration.

20. The method of claim 19 wherein, when in the wheel mode, the track and the assembly rotate as a unit.

Assignees

• Univ Carnegie Mellon

Inventors

• Pantaleo Richard
• Apostolopoulos Dimitrios
• Mutschler Edward
• Glisson Matthew

Classifications

• B60B19/02

  convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail · CPC title

• B62D55/14

  Arrangement, location, or adaptation of rollers · CPC title

• B62D55/12

  Arrangement, location, or adaptation of driving sprockets · CPC title

• B62D55/04

  with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa {(for multi-purpose tractors B62D49/0635)} · CPC title

• B60B19/12

  Roller-type wheels (B60B19/06 takes precedence) · CPC title