Ground robot drive system

• US 10,272,961 B2
• Filed: 03/06/2017
• Issued: 04/30/2019
• Est. Priority Date: 01/30/2014
• Status: Active Grant

• Current Assignee: Robo-Team Ltd.
• Original Assignee: Robo-Team Ltd.
• Inventors: Wolf, Yosi, Levy, Elad, Rotbart, Mor
• Primary Examiner(s): Hurley, Kevin
• Application Number:
  US15/450,445
• Publication Number:
  US 20170174278A1
• Time in Patent Office: 785 Days
• CPC Class Codes: B62D 5/02 mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
• CPC Class Codes: B62D 55/02 with tracks and additional ground wheels for multi-purpose tractors B62D49/0635
• CPC Class Codes: B62D 55/04 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 Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 55/084 Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units B62D55/07 takes precedence
• CPC Class Codes: B62D 55/24 of continuously flexible type, e.g. rubber belts
• CPC Class Codes: B62D 57/028 having wheels and mechanical legs B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A drive system for a vehicle is disclosed. The drive system has a track supported by pulleys; at least one wheel, disposed near an end of the track; and at least one flipper. The at least one flipper has at least one of a flipper track supported by flipper pulleys and a flipper wheel. A diameter of the at least one wheel is larger than a combined diameter of: each of the pulleys of the track and twice a thickness of the track.

Claims

1. A method for ground motion, comprising instructing a ground robot, wherein the ground robot comprises tracks supported by pulleys and comprises at least one wheel, to:

move forward, when the at least one wheel provides enough ground traction, using the at least one wheel, wherein a diameter of the at least one wheel is larger than the addition of the diameter of the pulleys and twice the thickness of the track mounted on it;

move forward, when the at least one wheel does not provide enough ground traction, using the track; and

operating, when the track and the at least one wheel do not provide enough ground traction, at least one rotatable flipper, wherein the at least one flipper is rotated to align with a main body of said ground robot during said track motion and said wheel motion, wherein said at least one flipper is rotated to extend from said main body during said flipper operation, and wherein said at least one flipper comprises at least one of a flipper track supported by flipper pulleys and a flipper wheel.

2. The method of claim 1, wherein the at least one wheel diameter ranges between 1.2 to 1.3 times of the overall height of the track and pulley, thereby allowing both the track and the at least one wheel to engage the ground simultaneously.

3. The method of claim 1, further comprising at least one rear wheel disposed near the rear end of the track and wherein the at least one wheel is disposed near the front end of the track.

4. The method of claim 1, wherein the track comprises, on an external surface thereof, at least one of a tread pattern and a plurality of projections, both for increasing a ground traction.

5. The method of claim 1, wherein the at least one wheel comprises, on an external surface thereof, at least one of a tread pattern and a plurality of projections, both for increasing a ground traction.

6. The method of claim 1, wherein the track and the at least one wheel are adapted to rotate independently.

7. The method of claim 1, wherein the track and the at least one wheel are adapted to rotate in synchronicity during normal operation and are adapted to rotate independently when normal operation results in loss of traction of the vehicle.

8. The method of claim 1, wherein the at least one flipper is adapted to rotate around an axis parallel to the axis of at least one of the pulleys and the at least one wheel.

9. The drive system of claim 3, wherein the at least one flipper is adapted to rotate around an axis parallel to the axis of at least one of the pulleys and the at least one rear wheel.

10. The method of claim 1, wherein the size of twice the flipper track thickness added to the flipper pulley diameter is substantially smaller than the size of the twice the track thickness added to the pulley diameter.