Articulated vehicle suspension system shoulder joint

• US 20050145428A1
• Filed: 08/12/2003
• Published: 07/07/2005
• Est. Priority Date: 02/21/2003
• Status: Active Grant

• Current Assignee: Advanced Micro Devices, Inc., Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Advanced Micro Devices, Inc.
• Inventors: Anderfaas, Eric N., Clemens, David A., Chun, Wendell H., Stinchcomb, Jon T., Beck, Michael S., Dunne, John C.
• Granted Patent: US 7,261,176 B2
• Time in Patent Office: Days
• US Class Current: 180/209
• CPC Class Codes: B60G 17/0157 non-fluid unit, e.g. electric motor
• CPC Class Codes: B60G 2200/132 with a single trailing arm
• CPC Class Codes: B60G 2202/20 Type of damper
• CPC Class Codes: B60G 2202/22 Rotary Damper
• CPC Class Codes: B60G 2202/23 Friction Damper
• CPC Class Codes: B60G 2202/42 Electric actuator
• CPC Class Codes: B60G 2204/128 Damper mount on vehicle body or chassis
• CPC Class Codes: B60G 2204/143 on the vehicle body or chassis
• CPC Class Codes: B60G 2300/07 Off-road vehicles
• CPC Class Codes: B60G 2300/32 Track vehicles
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60T 1/062 acting on transmission parts
• CPC Class Codes: B62D 49/002 characterised by being of the low ground pressure type
• CPC Class Codes: B62D 61/10 with more than four wheels tractors of the low ground pressure type B62D49/002
• CPC Class Codes: B62D 61/12 with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels for manoeuvring purposes only B60S
• CPC Class Codes: F16F 15/0235 where a rotating member is in contact with fluid rotary viscous dampers per se F16F9/12; suppression of vibrations in rotating systems containing a fluid F16F15/16
• CPC Class Codes: F16F 9/535 Magnetorheological [MR] fluid dampers springs comprising magnetorheological [MR] elastomers F16F1/361

Abstract

An articulated vehicle suspension system shoulder joint is disclosed. A vehicle includes a plurality of wheel assemblies; a plurality of rotating shoulder joints, each wheel assembly being mounted to a respective one of the shoulder joints and rotatable in a plane by the respective shoulder joint; and a chassis to which the shoulder joints are mounted. The shoulder joint for use in a vehicle suspension system includes a housing to which a wheel assembly may be attached for in-plane rotation; a drive; and a transmission engaged with the housing and the drive to reduce the speed of the drive motor as it drives the housing.

Claims

1. A vehicle, comprising:

a plurality of wheel assemblies;

a plurality of rotating shoulder joints, each wheel assembly being mounted to a respective one of the shoulder joints, each shoulder joint including;

a shoulder drive capable of rotating the respective wheel assembly in a plane;

a harmonic drive engaged with the shoulder drive and capable of reducing the speed of the shoulder motor; and

a planetary gearset capable of further reducing the speed of the shoulder drive and engaging the housing to drive it; and

a chassis to which the shoulder joints are mounted.

2. The vehicle of claim 1, wherein the shoulder joints are positioned about the chassis symmetrically.

3. The vehicle of claim 1, wherein the shoulder joints are positioned in collinear pairs.

4. The vehicle of claim 1, wherein at least one of the shoulder joints is capable of fully rotating the respective wheel assembly.

5. The vehicle of claim 1, wherein at least one of the shoulder joints is capable of rotating the respective wheel assembly to a prescribed point.

6. The vehicle of claim 1, wherein at least three of the shoulder joints is capable of fully rotating the respective wheel assembly.

7. The vehicle of claim 6, wherein the vehicle is capable of inverted operation.

8. The vehicle of claim 1, wherein the shoulder drive comprises one of a direct-drive motor, a servo motor, a motor-driven gearbox, an engine-driven gearbox, and a rotary actuator.

9. The vehicle of claim 1, wherein the shoulder drive comprises a part of a power transmission system.

10. The vehicle of claim 1, where in the electrical signals include at least one of a power signal and a data signal.

11. The vehicle of claim 1, wherein at least one shoulder joint is sealed against water intrusion to facilitate submerged operation.

12. The vehicle of claim 1, wherein the shoulder joint comprises at least one of:

a slip clutch between the planetary gearset and the housing to disengage the drive from the drive; and

a spring preloading the planetary gearset and the harmonic drive.

13. The vehicle of claim 12, wherein the spring comprises a torsion bar assembly.

14. The vehicle of claim 1, wherein the shoulder joint comprises a locking mechanism.

15. The vehicle of claim 14, wherein the locking mechanism comprises a small spring applied, electrically released locking mechanism.

16. The vehicle of claim 1, wherein the shoulder joint further comprises means for ascertaining the absolute position of the shoulder joint.

17. The vehicle of claim 16, wherein the ascertaining means comprises at least one of a resolver, an encoder, or a potentiometer.

18. The vehicle of claim 16, wherein the ascertaining means comprises at least one of an arm position encoder and a torsion bar twist encoder.

19. The vehicle of claim 1, wherein the shoulder joint further comprises a plurality of slip rings through which signals may be transmitted.

20. A shoulder joint for use in a vehicle suspension system, comprising:

a housing to which a wheel assembly may be attached for in-plane rotation;

a drive; and

a transmission engaged with the housing and the drive to reduce the speed of the shoulder drive as it drives the housing, the transmission including;

a harmonic drive engaged with the shoulder drive and capable of reducing the speed of the shoulder drive; and

a planetary gearset capable of further reducing the speed of the shoulder drive and engaging the housing to drive it.

21. The shoulder joint of claim 20, wherein the shoulder drive is co-aligned with the axis of the shoulder joint.

22. The shoulder joint of claim 20, wherein the shoulder drive is offset from the axis of the shoulder joint.

23. The shoulder joint of claim 20, wherein the shoulder drive comprises one of a direct-shoulder drive, a servo motor, a motor-driven gearbox, an engine-driven gearbox, and a rotary actuator.

24. The shoulder joint of claim 20, further comprising at least one of:

a slip clutch between the planetary gearset and the housing to disengage the drive from the drive; and

a spring preloading the planetary gearset and the harmonic drive.

25. The shoulder joint of claim 24, wherein the spring comprises a torsion bar assembly.

26. The shoulder joint of claim 20, further comprising a locking mechanism.

27. The shoulder joint of claim 26, wherein the locking mechanism comprises a small spring applied, electrically released locking mechanism.

28. The shoulder joint of claim 20, further comprising means for ascertaining the absolute position of the shoulder joint.

29. The shoulder joint of claim 28, wherein the ascertaining means comprises at least one of a resolver, an encoder, or a potentiometer.

30. The shoulder joint of claim 28, wherein the ascertaining means comprises at least one of an arm position encoder and a torsion bar twist encoder.

31. The shoulder joint of claim 20, further comprising a plurality of slip rings through which signals may be transmitted.

32. A shoulder joint, comprising an integrated:

a torsion bar;

a shoulder drive;

a harmonic drive;

a slip clutch; and

a plurality of slip rings.

33. The shoulder joint of claim 32, wherein the slip clutch limits the torque through a drive system of which the shoulder joint comprises a portion.

34. The shoulder joint of claim 33, wherein the slip clutch is capable of dissipating energy to prevent damage.

35. The shoulder joint of claim 32, wherein the slip clutch is capable of dissipating energy to prevent damage.

36. The shoulder joint of claim 32, further comprising locking mechanism capable of preventing rotation of the motor.

37. The shoulder joint of claim 36, wherein the locking mechanism is applied by a biasing means.

38. The shoulder joint of claim 37, wherein the biasing means comprises a spring.

39. The shoulder joint of claim 37, wherein the locking mechanism is electrically released.

40. The shoulder joint of claim 32, wherein the shoulder joint comprises a prismatic joint.

41. The shoulder joint of claim 32, wherein the shoulder joint offers multiple degrees of freedom of movement.