Steering method and apparatus for skid-steering vehicle

Claim 2

In a track-valve vehicle and the like having port and starboard track-driving mechanisms and the like, an improved driving and steering system comprising a prime mover having a first rotatable drive shaft for generating driving power for said vehicle, a second drive shaft positively interconnected with said first drive shaft, a port planetary gear assembly interconnected positively with and between said second drive shaft and said port track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a starboard planetary gear assembly interconnected positively with and between said second drive shaft and said starboard track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a port steering motor interconnected with said prime mover, first coupling means for transmitting driving power from said port steering motor to said port planetary gear assembly and for blocking transmission of driving power from said port planetary gear assembly to said port steering motor, a starboard steering motor interconnected with said prime mover, second coupling means for transmitting driving power from said starboard steering motor to said starboard planetary gear assembly and for blocking transmission of driving power from said starboard planetary gear assembly to said starboard steering motor, and control means interconnected separately and independently with each of said steering motors.

Claim 3

The apparatus described in claim 1, wherein said control means is also interconnected to deliver driving power to each of said steering motors separately and independently of the delivery of driving power from said second drive shaft to said planetary gear assemblies.

Claim 4

The apparatus described in claim 2, wherein said control means is also interconnected to cause said steering motors to separately and independently deliver steering power to their respective planetary gear assemblies independently of and concurrently with rotation of said second drive shaft.

Claim 5

In a track-type vehicle and the like having port and starboard track-driving mechanisms and the like, an improved driving and steering system comprising a prime mover having a first rotatable drive shaft for generating driving power for said vehicle, a second drive shaft positively interconnected with said first drive shaft, a port planetary gear assembly interconnected positively with and between said second drive shaft and said port track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a starboard planetary gear assembly interconnected positively with and between said second drive shaft and said starboard track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a port steering motor interconnected with said prime mover, first coupling means for transmitting driving power from said port steering motor to said port planetary gear assembly and for blocking transmission of driving power from said port planetary gear assembly to said port steering motor, a starboard steering motor interconnected with said prime mover, second coupling means for transmitting driving power from said starboard steering motor to said starboard planetary gear assembly and for blocking transmission of driving power from said starboard planetary gear assembly to said starboard steering motor, and control means interconnected separately and independently with each of said steering motors, wherein said control means is also interconnected to deliver driving power to each of said steering motors separately and independently of the delivery of driving power from said second drive shaft to said planetary gear assemblies, wherein said first and second coupling means each include, a self-locking worm gearset including a worm-type gear fixedly mounted on the shaft of the corresponding one of said steering motors and a worm wheel gear meshingly engaging said worm-type gear for rotation by said shaft of said one of said steering motors, and a spur gear interconnected with and rotatable by said worm wheel gear as a function of said one of said steering motors and further interconnected with a corresponding one of said planetary gear assemblies.

Claim 6

In a track-type vehicle and the like having port and starboard track-driving mechanisms and the like, an improved driving and steering system comprising a prime mover having a first rotatable drive shaft for generating driving power for said vehicle, a second drive shaft positively interconnected with said first drive shaft, a port planetary gear assembly interconnected positively with and between said second drive shaft and said port track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a starboard planetary gear assembly interconnected positively with and between said second drive shaft and said starboard track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a port steering motor interconnected with said prime mover, first coupling means for transmitting driving power from said port steering motor to said port planetary gear assembly and for blocking transmission of driving power from said port planetary gear assembly to said port steering motor, a starboard steering motor interconnected with said prime mover, second coupling means for transmitting driving power from said starboard steering motor to said starboard planetary gear assembly and for blocking transmission of driving power from said starboard planetary gear assembly to said starboard steering motor, and control means interconnected separately and independently with each of said steering motors, wherein said control means is also interconnected to deliver driving power to each of said steering motors separately and independently of the delivery of driving power from said second drive shaft to said planetary gear assemblies, wherein said first and second coupling means each include, a self-locking worm gearset including a worm-type gear fixedly mounted on the shaft of the corresponding one of said steering motors and a worm wheel gear meshingly engaging said worm-type gear for rotation by said shaft of said one of said steering motors, and a spur gear interconnected with and rotatable by said worm wheel gear as a function of said one of said steering motors and further interconnected with a corresponding one of said planetary gear assemblies.

Claim 7

In a track-type vehicle and the like having port and starboard track-driving mechanisms and the like, an improved driving and steering system comprising a prime mover having a first rotatable drive shaft for generating driving power for said vehicle, a second drive shaft positively interconnected with said first drive shaft, a port planetary gear assembly interconnected positively with and between said second drive shaft and said port track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a starboard planetary gear assembly interconnected positively with and between said second drive shaft and said starboard track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a port steering motor interconnected with said prime mover, first coupling means for transmitting driving power from said port steering motor to said port planetary gear assembly and for blocking transmission of driving power from said port planetary gear assembly to said port steering motor, a starboard steering motor interconnected with said prime mover, second coupling means for transmitting driving power from said starboard steering motor to said starboard planetary gear assembly and for blocking transmission of driving power from said starboard planetary gear assembly to said starboard steering motor, and control means interconnected separately and independently with each of said steering motors, wherein said control means is also interconnected to deliver driving power to each of said steering motors separately and independently of the delivery of driving power from said second drive shaft to said planetary gear assemblies, wherein said control means is also interconnected to cause said steering motors to separately and independently deliver steering power to their respective planetary gear assemblies independently of and concurrently with rotation of said second drive shaft, wherein said planetary gear assemblies each include a sun gear fixedly mounted adjacent one end of said second drive shaft and rotatable as a function of said prime mover, a carrier plate spaced from and confronting said sun gear, planet gears each meshingly engaged with said sun gear and each rotatably mounted on said carrier plate, and a ring gear having teeth meshingly engaged with each of said planet gears, and further gearingly interconnected with one of said steering motors.

Claim 8

In a track-type vehicle and the like having port and starboard track-driving mechanisms and the like, an improved driving and steering system comprising a prime mover having a first rotatable drive shaft for generating driving power for said vehicle, a second drive shaft positively interconnected with said first drive shaft, a port planetary gear assembly interconnected positively with and between said second drive shaft and said port track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a starboard planetary gear assembly interconnected positively with and between said second drive shaft and said starboard track-driving mechanism and including at least one sun gear and at least one set of planetary gears in meshing engagement with said one sun gear therein, a port steering motor interconnected with said prime mover, first coupling means for transmitting driving power from said port steering motor to said port planetary gear assembly and for blocking transmission of driving power from said port planetary gear assembly to said port steering motor, a starboard steering motor interconnected with said prime mover, second coupling means for transmitting driving power from said starboard steering motor to said starboard planetary gear assembly and for blocking transmission of driving power from said starboard planetary gear assembly to said starboard steering motor, and control means interconnected separately and independently with each of said steering motors, wherein said control means is also interconnected to deliver driving power to each of said steering motors separately and independently of the delivery of driving power from said second drive shaft to said planetary gear assemblies, wherein said control means is also interconnected to cause said steering motors to separately and independently deliver steering power to their respective planetary gear assemblies independently of and concurrently with rotation of said second drive shaft, wherein said planetary gear assemblies each include a sun gear fixedly mounted adjacent one end of said second drive shaft and rotatable as a function of said prime mover, a carrier plate spaced from and confronting said sun gear, planet gears each meshingly engaged with said sun gear and each rotatably mounted on said carrier plate, and a ring gear having teeth meshingly engaged with each of said planet gears, and further gearingly interconnected with one of said steering motors.

Claim 9

The apparatus described in claim 5, wherein said ring gear is interconnected positively with and rotatable by said one steering motor independently of and concurrently with rotation of said second drive shaft and sun gear by said prime mover.

Claim 10

The apparatus described in claim 6, wherein said steering motor is further interconnected positively and meshingly with said ring gear for revolving said plurality of planetary-type gears about said sun gear independently of rotation of said sun gear by said second drive shaft.

Claim 11

The apparatus described in claim 7, wherein said steering motor further comprises a steering motor interconnected with said control means and having a rotatable motor shaft, a self-locking gear fixedly mounted on the said motor shaft for rotation by said steering motor, a worm wheel gear meshingly engaging said self-locking gear for rotation by said steering motor, and a spur gear interconnected with and rotatable by said worm wheel gear as a function of said steering motor and meshingly engaging the said ring gear.

Claim 12

The apparatus described in claim 5, wherein said control means includes means for selectively adjusting the speed and direction of rotation of said motor shaft by said steering motor.

Claim 13

The apparatus described in claim 9, wherein said control means and steering motor are further interconnected with said planetary gear assembly for revolving said carrier plate in functional relationship with rotation of said sun gear by said second drive shaft.