Drivable, steerable platform for lawnmower and the like

• US 4,463,821 A
• Filed: 03/01/1982
• Issued: 08/07/1984
• Est. Priority Date: 03/01/1982
• Status: Expired due to Term

• Current Assignee: Moshel, Receiver By N.Y. Supreme Court Eluzar, Romak Robotics A Texas Partnership
• Original Assignee: Robot Crabtor International
• Inventors: Falamak, Reza
• Primary Examiner(s): Peters, Jr., Joseph F.
• Assistant Examiner(s): Fugate, D. Lynn
• Application Number:
  US06/353,250
• Time in Patent Office: 890 Days
• Field of Search: 180/23, 180/24, 180/79.1, 180/167, 180/168, 180/234, 180/241, 180/251, 280/47.11
• US Class Current: 180/168
• CPC Class Codes: B62D 7/026 characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle

Abstract

A drivable, steerable platform for a lawnmower and the like is disclosed in which a frame member is generally disposed in a frame member plane parallel to the terrain upon which the platform is to travel. Mounted on the frame member are at least three wheel assemblies. Each wheel assembly includes support structure rotatably connected to the frame member such that the support structure may endlessly rotate through an angle of 360° about an axis substantially perpendicular to the frame member plane. A wheel member is rotatably mounted on each support structure such that the wheel members are disposed substantially parallel to each other and substantially perpendicular to the frame member plane. First drive structure is included to drive the wheel members. First steering structure is included to rotate the support structures, the wheel members being endlessly steerable through an angle of 360°. A first endless belt is coupled to the first drive structures to rotate each of the wheel members substantially in synchronism. A second endless belt is coupled to the first steering structures to rotate the support structures substantially in synchronism. A driving device is included, as is first and second clutch structures to selectively couple the driving device to the first and second endless belts, respectively. Control circuitry is disclosed to selectively operate the platform.

Claims

1. A drivable, steerable platform comprising:

a frame member, said member being generally disposed in a frame member plane;

at least three wheel assemblies, each of said wheel assemblies including;

first support structure rotatably connected to said frame member such that said support structure rotates about an axis substantially perpendicular to said frame member plane, said first support structure being endlessly rotatable through an angle of 360°

;

a wheel member rotatably mounted on said first support structure such that said wheel member rotates in a wheel rotation plane about an axis substantially parallel to said frame member plane;

first drive structure to drive said wheel member about its axis of rotation in said wheel rotation plane; and

first steering structure to rotate said first support structure about its axis of rotation, whereby said wheel member is endlessly steerable through an angle of 360°

;

a first endless device drivingly connected to each of said first drive structures to rotate each of said wheel members substantially in synchronism;

a second endless device drivingly connected to each of said first steering structures to rotate each of said first support structures substantially in synchronism; and

drive means for selectively driving said first and second endless devices, said means including;

a driving device;

first coupling structure to selectively couple and uncouple said driving device and said first endless device; and

second coupling structure to selectively couple and uncouple said driving device and said second endless device;

wherein the wheel rotation planes of said at least three wheel members are disposed substantially parallel to each other.

2. The platform according to claim 1 wherein said at least three wheel assemblies include at least five wheel assemblies.

3. The platform according to claim 2 wherein each of said at least five wheel assemblies are disposed substantially at the vertices of a regular polygon.

4. The platform according to claim 2, further comprising control structure having:

first means for activating said drive means;

first relay structure to selectively actuate said first coupling structure;

second relay structure to selectively actuate said second coupling structure; and

control circuit means connected to said first and second relay structures for selectively operating said first and second relay structures.

5. The platform according to claim 4, wherein said control circuit means includes receiver means adapted to receive a transmitted signal for providing control signals.

6. The platform according to claim 4, further comprising direction indicating structure to indicate direction of platform movement to an observer, having:

second support structure drivingly connected to said second endless device to rotate in synchronism with said first support structures; and

a direction indicating member mounted on said second support structure.

7. The platform according to claim 6, wherein said control circuit means further includes transmitter means for broadcasting signals, and wherein said direction indicating member includes a video camera, said camera being conductively coupled to said transmitter means such that said broadcasted signals represented data viewed by said camera.

8. The platform according to claim 2, further comprising control means for selectively operating said first and second coupling structures of said drive means, said control means including:

means for providing control signals;

means connected to receive said control signals for providing steering control signals and driving control signals;

means connected to receive said steering control signals for selectively operating said second coupling structure; and

means connected to receive said driving control signals for selectively operating said first coupling structure.

9. A drivable, steerable lawnmower comprising:

drivable, steerable platform structure including;

a frame member generally disposed in a frame member plane;

at least five wheel assemblies, each of said wheel assemblies having;

first support structure rotatably connected to said frame member such that said first support structure rotates about an axis substantially perpendicular to said frame member plane, said first support structure being endlessly rotatable through an angle of 360°

;

a wheel member rotatably mounted on said first support structure such that said wheel member rotates in a wheel rotation plane about an axis substantially parallel to said frame member plane;

first drive structure to drive said wheel member about its axis of rotation in said wheel rotation plane; and

first steering structure to rotate said first support structure about its axis to rotation, whereby said wheel member is endlessly steerable through an angle of 360°

;

a first endless device drivingly connected to each of said first drive structures to rotate each of said wheel members substantially in synchronism;

a second endless device drivingly connected to each of said first steering structures to rotate each of said first support structures substantially in synchronism; and

drive means for selectively driving said first and second endless device, said means including;

a driving device;

first coupling structure to selectively couple and uncouple said driving device and said first endless device; and

second coupling structure to selectively couple and uncouple said driving device and said second endless device;

wherein the wheel rotation planes of said at least five wheel members are disposed substantially parallel to each other;

lawnmower structure including;

housing structure movingly connected to said platform structure; and

blade structure accommodated in said housing structure and disposed substantially parallel to said frame member plane, said blade structure being drivingly connected to said driving device; and

control structure including;

first means for activating said drive means;

first relay structure to selectively actuate said first coupling structure;

second relay structure to selectively actuate said second coupling structure; and

control circuit means connected to said first and second relay structures for selectively operating said first and second relay structures.

10. The lawnmower according to claim 9, wherein said first and second coupling structures include tension structure to retard stalling of said driving device.

11. The lawnmower according to claim 9, wherein said control structure further comprises:

driving sensor structure conductively connected to said control circuit means to sense rotation of said wheel members;

steering sensor structure conductively connected to said control circuit means to sense the orientation of said first support structures; and

wherein said control circuit means includes;

receiver means adapted to receive a transmitted signal for providing control signals.

12. The lawnmower according to claim 9, further comprising direction indicating structure to indicate direction of platform movement to an observer, having:

second support structure drivingly connected to said second endless device to rotate in synchronism with said first support structures; and

a direction indicating member mounted on said second support structure.

13. A drivable, steerable lawnmower comprising:

drivable, steerable platform structure including;

a frame member generally disposed in a frame member plane;

at least five wheel assemblies, each of said wheel assemblies having;

first support structure rotatably connected to said frame member such that said first support structure rotates about an axis substantially perpendicular to said frame member plane, said first support structure being endlessly rotatable through an angle of 360°

;

a wheel member rotatably mounted on said first support structure such that said wheel member rotates in a wheel rotation plane about an axis substantially parallel to said frame member plane;

first drive structure to drive said wheel member about its axis of rotation in said wheel rotation plane; and

first steering structure to rotate said first support structure about its axis of rotation, whereby said wheel member is endlessly steerable through an angle of 360°

;

a first endless device drivingly connected to each of said first drive structures to rotate each of said wheel members substantially in synchronism;

a second endless device drivingly connected to each of said first steering structures to rotate each of said first support structures substantially in synchronism; and

drive means for selectively driving said first and second endless devices, said means including;

a driving device;

first coupling structure to selectively couple and uncouple said driving device and said first endless device; and

second coupling structure to selectively couple and uncouple said driving device and said second endless device;

wherein the wheel rotation planes of said at least five wheel members are disposed substantially parallel to each other;

lawnmower structure including;

housing structure movingly connected to said platform structure; and

blade structure accommodated in said housing structure and disposed substantially parallel to said frame member plane, said blade structure being drivingly connected to said driving device; and

control structure including;

means for providing control signals;

means connected to receive said control signals for activating said driving device;

means connected to receive said control signals for providing steering control signals and driving control signals;

means connected to receive said steering control signals for selectively operating said second coupling structure of said drive means; and

means connected to receive said driving control signals for selectively operating said first coupling structure of said drive means.

14. A drivable, steerable platform comprising:

a frame member, said member being generally disposed in a frame member plane;

at least three wheel assemblies, each of said wheel assemblies including;

first support structure rotatably connected to said frame member such that said support structure rotates about an axis substantially perpendicular to said frame member plane, said first support structure being endlessly rotatable through an angle of 360°

;

a wheel member rotatably mounted on said first support structure such that said wheel member rotates in a wheel rotation plane about an axis substantially parallel to said frame member plane;

first drive structure having a first braking device, and being selectively operable in a driving mode to rotate said wheel member in said wheel rotation plane, and in a steering mode to rotate said first support structure whereby said wheel member is endlessly steerable through an angle of 360°

;

a first endless drive drivingly connected to each of said first drive structures;

drive means for selectively driving said first endless device, said means including;

a driving device; and

first coupling structure to selectively couple and uncouple said driving device and said first endless device; and

means for selectively actuating each of said first braking devices;

wherein the wheel rotation planes of said at least three wheel members are disposed substantially parallel to each other.