Driven platform with tilting suspension

Patent metadata

Field	Value
Publication number	US-2019160902-A1
Application number	US-201715828365-A
Country	US
Kind code	A1
Filing date	Nov 30, 2017
Priority date	Nov 30, 2017
Publication date	May 30, 2019
Grant date	—

Abstract

A robotic platform may include left and right platforms, a base platform, wheel assemblies, and a tilting suspension. The tilting suspension may include a tilt shaft coupled to the base platform, a crank, suspension arms, and a tilt assembly. The tilt shaft may extend along a substantially vertical tilt axis. The crank may extend substantially perpendicular to the tilt axis and may be coupled to the tilt shaft such that the crank at least partially rotates about the tilt axis along with the tilt shaft. The suspension arms may extend from the crank to the left and right platforms such that rotation of the crank about the tilt axis controls the tilt of the platforms. The tilt assembly may control rotation of the tilt shaft about the tilt axis to control the tilt of the left and right platforms. Various other systems are also disclosed.

First claim

What is claimed is:

1 . A robotic platform comprising:
a chassis comprising at least one left platform, at least one right platform, and at least one base platform; a wheel assembly mounted on each of the left and right platforms; and a tilting suspension system comprising:
a tilt shaft coupled to the base platform, the tilt shaft extending from a first tilt shaft end to a second tilt shaft end along a substantially vertical tilt axis;
an arm crank extending substantially perpendicular to the tilt axis from a left arm crank end to a right arm crank end, wherein the arm crank is coupled to the second tilt shaft end such that the arm crank at least partially rotates about the tilt axis along with the tilt shaft;
left and right suspension arms coupled to the left and right arm crank ends, respectively, the left and right suspension arms extending from the left and right arm crank ends, respectively, to connect to the left and right platforms, respectively, such that rotation of the arm crank about the tilt axis controls tilt of the left and right platforms relative to the tilt axis; and
a tilt assembly that controls rotation of the tilt shaft about the tilt axis to control the rotation of the arm crank and the tilt of the left and right platforms.

2 . The robotic platform of claim 1 , wherein the tilt assembly comprises a tilt motor and a tilt belt that is controlled by the tilt motor, wherein the tilt shaft is wrapped by the tilt belt such that rotation of the tilt belt controls rotation of the tilt shaft about the tilt axis.

3 . The robotic platform of claim 1 , further comprising a tilt brake arranged on the second tilt shaft end and dimensioned to retard motion of the tilt shaft and thereby retard motion of the arm crank and the left and right suspension arms.

4 . The robotic platform of claim 3 , wherein the tilt brake comprises a disc brake, the disc brake comprising:
a disc disposed on the tilt shaft and configured to rotate with the tilt shaft about the tilt axis; and a pair of pads on top and bottom sides of the disc, wherein the pads are compressible against the disc to retard rotation of the disc and thereby retard rotation of the tilt shaft.

5 . The robotic platform of claim 1 , further comprising a drive assembly disposed on each of the left and right platforms, the drive assembly comprising a drive motor and a drive belt that is controlled by the drive motor.

6 . The robotic platform of claim 5 , wherein the wheel assembly comprises:
a wheel mounted to an axle for rotation about a drive axis and steering about a substantially vertical steering axis; a drive shaft extending along the steering axis from a first drive shaft end to a second drive shaft end, the first drive shaft end being coupled to the axle and the second drive shalt end being wrapped by the drive belt of the drive motor such that the drive belt controls rotation of the drive shaft about the steering axis; and a bevel gear connecting the first drive shaft end to the axle such that rotation of the drive shalt about the steering axis controls rotation of the wheel about the drive axis to drive the robotic platform in a substantially horizontal direction.

7 . The robotic platform of claim 6 , further comprising a steer assembly disposed on each of the left and right platforms, the steer assembly comprising a steer motor and a steer belt, wherein the wheel assembly includes a steer shaft extending along the steering axis from a first steer shaft end to a second steer shaft end, the first steer shaft end being coupled to the axle and the second steer shaft end being wrapped by the steer belt such that the steer belt controls rotation of the steer shaft about the steering axis to steer the wheel about the steering axis.

8 . The robotic platform of claim 6 , further comprising a brake arranged on the second drive shaft end of the drive shaft and dimensioned to retard motion of the drive shaft and thereby retard motion of the wheel.

9 . The robotic platform of claim 8 , wherein the brake comprises a disc brake, the disc brake comprising:
a disc disposed on the drive shaft and configured to rotate with the drive shaft about the steering axis; and a pair of pads on top and bottom sides of the disc, wherein the pads are compressible against the disc to retard rotation of the disc and thereby retard rotation of the drive shaft.

10 . The robotic platform of claim 6 , wherein the drive axis and the steering axis together form an oblique angle such that the wheel is tilted relative to the drive shaft.

11 . The robotic platform of claim 6 , wherein the tilt assembly is configured to tilt each of the left and right platforms at an angle that is substantially equal to the tilt of the wheel such that the drive axis is substantially perpendicular to the tilt axis.

12 . The robotic platform of claim 6 , wherein the wheel is configured to freely rotate 360 degrees about the steering axis.

13 . The robotic platform of claim 1 , further comprising:
a drive assembly disposed on the base platform, the drive assembly comprising a base drive motor and a base drive belt; and a base driven wheel assembly mounted on the base platform, the base driven wheel assembly comprising:
a wheel mounted to an axle for rotation about a drive axis and steering about a substantially vertical steering axis;
a drive shaft extending along the steering axis from a first drive shaft end to a second drive shaft end, the first drive shaft end being coupled to the axle and the second drive shaft end being wrapped by the base drive belt such that the base drive belt controls rotation of the drive shaft about the steering axis; and
a bevel gear connecting the first drive shaft end to the axle such that rotation of the drive shaft about the steering axis controls rotation of the wheel about the drive axis to drive the robotic platform in a substantially horizontal direction.

14 . A vehicle comprising:
a chassis comprising at least one left platform, at least one right platform, and at least one base platform; a wheel assembly mounted on each of the left and right platforms; and a tilting suspension system comprising:
a tilt shaft coupled to the base platform, the tilt shaft extending from a first tilt shaft end to a second tilt shaft end along a substantially vertical tilt axis;
an arm crank extending substantially perpendicular to the tilt axis from a left arm crank end to a right arm crank end, wherein the arm crank is coupled to the second tilt shaft end such that the arm crank at least partially rotates about the tilt axis along with the tilt shaft;
left and right suspension arms coupled to the left and right arm crank ends, respectively, the left and right suspension arms extending from the left and right arm crank ends, respectively, to connect to the left and right platforms, respectively, such that rotation of the arm crank about the tilt axis controls tilt of the left and right platforms relative to the tilt axis; and
a tilt assembly that controls rotation of the tilt shaft about the tilt axis to control the rotation of the arm crank and the tilt of the left and right platforms.

15 . The vehicle of claim 14 , wherein the tilt assembly comprises a tilt motor and a tilt belt that is controlled by the tilt motor, wherein the tilt shaft is wrapped by the tilt belt such that rotation of the tilt belt controls rotation of the tilt shaft about the tilt axis.

16 . The vehicle of claim 14 , further comprising a drive assembly disposed on each of the left and right platforms, the drive assembly comprising a drive mot

Assignees

• Facebook Inc

Inventors

• Wiley Scott C
• Epstein Michael

Classifications

• B60G2206/41

  Dampers · CPC title

• B60Y2200/40

  Special vehicles · CPC title

• B25J5/007 Primary

  mounted on wheels · CPC title

• B60G13/003

  characterised by the mounting on the vehicle body or chassis of the damper unit · CPC title

• B62D11/08

  using brakes or clutches as main steering-effecting means · CPC title