US4932489A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Steering and drive means for robot vehicle
Assignee: Transitions Research Corp
•
Filing: 1988-04-07
•
Granted: 1990-06-12
•
Expires: 2008-04-07
Abstract
Abstract A vehicle has been provided with a first load carrying frame having freely rotatable supporting wheels attached thereto. A second frame in non-rotable and compliantly suspended from the first frame. A device is mounted to the second frame for driving and steering the vehicle.
Inventors
- 👤 John M. Evans
- 👤 Robert B. Croston
- 👤 Wilbur N. Roberts
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 01:58
CPC Classifications
B; B62; B62D; B62D7/00; B62D7/06; B62D7/14; B62D7/15; B62D7/1509
Claims Analysis
Total Claims: 30
Claim 1
Independent Claim
85 words
A vehicle, comprising: a first load-carrying frame having freely, rotatable, supporting wheels attached thereto; a second frame suspended from said first frame; means mounted to said second frame for driving and steering said vehicle, said driving and steering means comprising first and second drive means mounted to said second frame; and means for suspending said second frame from said first frame at a plurality of locations; said suspending means enabling first and second drive wheels to move independently towards and away from said first frame.
Claim 2
Dependent Claim
85 words
A vehicle, comprising: a first load-carrying frame having freely, rotatable, supporting wheels attached thereto; a second frame suspended from said first frame; means mounted to said second frame for driving and steering said vehicle, said driving and steering means comprising first and second drive means mounted to said second frame; and means for suspending said second frame from said first frame at a plurality of locations; said suspending means enabling first and second drive wheels to move independently towards and away from said first frame.
Claim 3
Dependent Claim
38 words
The vehicle of claim 1 wherein said driving and steering means further comprises: first and second drive actuator means, said first and second drive actuator means being each independently connected to said first and second drive wheels, respectively.
Claim 4
Dependent Claim
43 words
The vehicle of claim 2 wherein said driving and steering means further comprises steering actuator means operatively connected to said first and second drive wheels for simultaneously turning said drive wheels so that said drive wheels always remain substantially parallel to each other.
Claim 5
Dependent Claim
85 words
The vehicle of claim 3 wherein said second frame is connected to said first frame at no less than four locations; said second frame is pivotably connected at a first location to said first frame; said second frame is connected at a second location to said first frame by a suspension element which constrains horizontal translational and rotational motion of said second frame with respect to said first frame; and said second frame is resiliently mounted at third and fourth locations to said first frame.
Claim 6
Dependent Claim
25 words
The vehicle of claim 4 wherein the resilient mounting comprises adjustable springs mounted between the first and second frames at the third and fourth locations.
Claim 7
Dependent Claim
13 words
The vehicle of claim 5 wherein the pivotable mounting comprises a ball joint.
Claim 8
Dependent Claim
33 words
The vehicle of claim 5 wherein a suspension element for constraining horizontal motion of the second frame with respect to the first frame, is a thin metal plate horizontally linking the two frames.
Claim 9
Dependent Claim
19 words
The vehicle of claim 4 wherein said first and second drive actuator means each comprises first and second motors.
Claim 10
Dependent Claim
19 words
The vehicle of claim 8 wherein said first and second motors are mounted in the hub of each wheel.
Claim 11
Dependent Claim
52 words
The vehicle of claim 4 wherein said steering actuator means further comprises: a power drive; and means for transmitting the power from the power drive to said first and second drive wheels for orienting said first and second drive wheels so that said drive wheels always remain substantially parallel to each other.
Claim 12
Dependent Claim
30 words
The vehicle of claim 10 wherein the transmitting power means comprises a third motor and a chain drive connected to said third motor and said first and second drive wheels.
Claim 13
Dependent Claim
34 words
The vehicle of claim 2 wherein said driving and steering means further comprises first and second steering actuator means independently connected to said first and second drive means for independently orienting said drive wheels.
Claim 14
Dependent Claim
70 words
The vehicle of claim 12 wherein said second frame is connected to said first frame at no less than four locations; said second frame is pivotably connected at a first location to said first frame; said second frame is connected at a second location for constraining lateral movement with respect to said first frame; and said second frame is resiliently mounted at third and fourth locations to said first frame.
Claim 15
Dependent Claim
25 words
The vehicle of claim 13 wherein the resilient mounting comprises adjustable springs mounted between the first and second frames at the third and fourth locations.
Claim 16
Dependent Claim
13 words
The vehicle of claim 14 wherein the pivotable mounting comprises a ball joint.
Claim 17
Dependent Claim
21 words
The vehicle of claim 15 further comprising a flexible metal plate which connects the first and second frames to each other.
Claim 18
Dependent Claim
18 words
The vehicle of claim 13 wherein said first and second drive actuator means comprises first and second motors.
Claim 19
Dependent Claim
40 words
The vehicle of claim 17 wherein said steering actuator means further comprises a power drive and means for transmitting the power from the power drive to said first and second drive wheels for independently orienting said first and second drive
Claim 20
Dependent Claim
30 words
The vehicle of claim 1 wherein said means for suspending further includes compliant means for adjusting the degree of load force transmitted from the first frame to the second frame.
Claim 21
Dependent Claim
26 words
The vehicle of claim 19 wherein the compliant means comprises spring means connected between said first frame and said second frame at third and fourth locations.
Claim 22
Dependent Claim
11 words
The vehicle of claim 20 wherein said spring means is adjustable.
Claim 23
Dependent Claim
26 words
The vehicle of claim 1 wherein said means for suspending further includes means for connecting said second frame to said first frame at a first location.
Claim 24
Dependent Claim
43 words
The vehicle of claim 22 wherein said means for suspending further includes means for connecting said second frame to said first frame at a second location for constraining horizontal translation and rotational motion of said second frame with respect to said first frame.
Claim 25
Dependent Claim
19 words
The vehicle of claim 23 wherein said means for constraining horizontal translational and rotational motion comprises a suspension element.
Claim 26
Dependent Claim
26 words
The vehicle of claim 24 wherein said means for connecting said second frame to said first frame at a first location comprises a pivotably connecting means.
Claim 27
Independent Claim
97 words
The method of driving and steering a vehicle, comprising the steps of: providing a first load-carrying frame having a plurality of freely rotatable, supporting wheels attached thereto; suspending a second frame from said first frame; mounting first and second drive wheels to said second frame for driving and steering said vehicle; suspending said second frame from said first frame at a plurality of locations whereby said first and second drive wheels move independently towards and away from said first frame; and simultaneously orienting said drive wheels so that said drive wheels remain substantially parallel to each other.
Claim 28
Independent Claim
97 words
The method of driving and steering a vehicle, comprising the steps of: providing a first load-carrying frame having a plurality of freely rotatable, supporting wheels attached thereto; suspending a second frame from said first frame; mounting first and second drive wheels to said second frame for driving and steering said vehicle; suspending said second frame from said first frame at a plurality of locations whereby said first and second drive wheels move independently towards and away from said first frame; and simultaneously orienting said drive wheels so that said drive wheels remain substantially parallel to each other.
Claim 29
Dependent Claim
25 words
The method of claim 26 further including the step of driving said drive wheels at the same speed to obtain vehicle translation without vehicle rotation.
Claim 30
Dependent Claim
68 words
The method of claim 26 further including the steps of: orienting said drive wheels so that a center of each of the two drive wheels, about which the drive wheels rotate, coincide with each other; and driving said drive wheels at different speeds to turn the vehicle about any point between the centers of the two drive wheels, including zero radius turns about the center of the vehicle.
References Cited (Backward Citations)
US1733356A
Cited
US3154162A
Cited
US3700058A
Cited
US3938608A
Cited
US3876026A
Cited
US4041678A
Cited
US4078630A
Cited
US4221273A
Cited
US4223753A
Cited
JPS574471A
Cited
JPS5863575A
Cited
JPS624630A
Cited
US4694923A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1993-06-11 | 1993-12-11 | 1994-06-12 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-06-11 | 1997-12-11 | 1998-06-12 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-06-11 | 2001-12-11 | 2002-06-12 | $7700.00 | Window Closed / Lapsed |