Self-traveling robotic vehicle with inclinable propulsion units

• US 5,248,008 A
• Filed: 09/23/1992
• Issued: 09/28/1993
• Est. Priority Date: 08/31/1989
• Status: Expired due to Fees

• Current Assignee: Framatome
• Original Assignee: Framatome
• Inventors: Clar, Georges
• Primary Examiner(s): HILL, MITCHELL
• Application Number:
  US07/949,366
• Time in Patent Office: 370 Days
• Field of Search: 180/6.2, 180/8.2, 180/8.7, 180/9.1, 180/9.3, 180/9.32, 180/9.44, 180/9.46, 180/9.5, 180/9.52, 180/9.62, 180/9.64, 180/60, 180/6.28
• US Class Current: 180/9.32
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B60K 17/043 Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
• CPC Class Codes: B60K 17/32 the ultimate propulsive elements, e.g. ground wheels, being rockable about a horizontal pivot
• CPC Class Codes: B60K 17/36 for driving tandem wheels
• CPC Class Codes: B60K 2007/0038 the motor moving together with the wheel axle
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 7/0007 the motor being electric
• 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

Abstract

A self-traveling robotic vehicle having inclinable tracklaying propulsion units for operating in a hostile environment. Each propulsion unit has a track, a built-in propulsion drive for driving the track, and a built-in inclination drive for inclining the propulsion unit as required by rotating it about a transverse axis. Each propulsion unit is readily removable and therefore replaceable in the event of failure or damage to a particular propulsion unit. The vehicle is capable of movement along non-horizontal and rough surfaces while maintaining the stability of the vehicle body and any load that it might be carrying. The body of the vehicle does not comprise any mechanical parts. The vehicle is particularly useful in the nuclear industry.

Claims

1. A vehicle having a plurality of inclinable track-bearing propulsion units, said vehicle comprising a vehicle body, means for integrally connecting said vehicle body with each of said propulsion units, said integrally connecting means being adapted for easy removal and installation of said inclinable track-bearing propulsion units, and wherein at least one of said propulsion units comprises:

(a) a propulsion drive system substantially contained within a borne by said propulsion unit; and

(b) an inclination drive system substantially contained within and borne by said propulsion unit;

(c) wherein said propulsion units are removably attached to said vehicle body to support said vehicle, each said propulsion unit having a generally elongate shape with a longitudinal axis (12) and comprising;

(i) a track (4) for contacting the ground, said track comprising a closed loop around said propulsion unit in a plane containing said longitudinal axis, for moving said propulsion unit relative to said ground;

(ii) track guide members (6, 7, 9 and

     10), for guiding movement of said track;

(iii) a drive sprocket wheel (6) for driving said track to bring about movement of said propulsion unit relative to said ground;

(iv) a swing-arm (18) for carrying said guide members and said drive sprocket wheel;

(v) attachment means for attaching said swing-arm (18) to said vehicle body (2), said attachment means comprising an articulating joint (16) enabling inclination of said swing-arm relative to said vehicle body by rotation about a transverse articulation axis (5);

(vi) said propulsion drive system (22, 23,

     21) corresponding to each said propulsion unit being adapted to rotate and limit rotation of said drive sprocket wheel (6) of said propulsion unit;

(vii) said inclination drive system (38, 37, 36A) corresponding to each said propulsion unit being adapted to rotate and break an inclination movement of said swing-arm of said propulsion unit;

(viii) power supply means (100) for supplying power to said propulsion and inclination drive systems of said propulsion units; and

(ix) control means (102,

     13) supplying control signals to said propulsion and inclination drive systems coordinating said inclination drive systems and movement of said propulsion units relative to said ground, said control means being at least partially carried by said vehicle body to supply coordination signals, said swing-arm assembly means comprising, in addition to said articulating joint (16), a removable fixing device (17) enabling easy and repeated removal of said swing-arm from and assembly of said swing-arm to said vehicle body (2), said vehicle further comprising, in corresponding relationship to each of said propulsion units, a transmission means (108, 110, 44,

     45) for transmitting control signals between said control means (102) carried by said vehicle body (2) and said propulsion unit, said transmission means comprising deformable elements (110) withstanding at least said inclination movements, and separable complementary connectors (44,

     45) to enable said transmission means to function again after temporary removal of said swing-arm.

2. A vehicle according to claim 1 characterised in that said power supply means (100) are carried by said vehicle body (2) and said transmission means (108, 110, 44, 45) are also adapted to transmit power to said propulsion drive systems (22, 23, 21) and inclination drive systems (38, 37, 36A).

3. A vehicle according to claim 1, wherein each propulsion unit (3) is substantially contained within a volume defined by the outside contour of the track contained on said propulsion unit and a width equivalent to the width of said track.

4. A vehicle according to claim 1, wherein said swing-arm 18 is generally plate-like member with an inside surface facing said vehicle body (2) and an outside surface facing said guide members (6, 7, 9, 10), drive sprocket wheel (6) and drive systems (22, 23, 21, 38, 37, 36A).

5. A vehicle according to claim 4, wherein said articulating joint (16) comprises:

(a) a tubular articulation hub (34) coaxial with said articulation axis (5) and forming a central volume between an open outside end and an inside end facing said vehicle body (2), said inside end constituting part of an articulation conduit (106) extending along said articulation axis;

(b) an articulation case (30) surrounding said articulation hub coaxially and carrying said swing-arm (18);

(c) ball bearings (39A and 39B) for guiding rotation of said articulation case about said articulation hub;

(d) an articulation fixing device (17) being tubular in shape and extending coaxially in line with said articulation hub to complete said articulation conduit; and

,

(e) a transmission means, said transmission means comprising;

central transmission means (108) coupled to said vehicle body (2),

a peripheral transmission means (110) coupled to said swing-arm (18), and

transmission coupling means (44,

     45) extending through said articulation conduit (106) and located near said articulation fixing device to connect said peripheral transmission means in a readily removable way to said central transmission means.

6. A vehicle according to claim 5, wherein said articulating joint device (17) comprises two tubular couplings, a male coupling (41) and a female coupling (40) of which one coupling is mounted coaxially with said inner end of said articulation hub (34) and the other coupling is mounted coaxially with said vehicle body (2), said female coupling (40) comprising ribs (50) which project radially inward and which are distributed circumferentially around said articulation axis (5), said male coupling (41) comprising ribs (52) which project radially outward and which are distributed circumferentially around said articulating joint, wherein said male coupling can be inserted into said female coupling with said ribs on said male coupling passing between said ribs on said female coupling, and then by an assembly rotation during which one of the couplings turns relative to the other through an assembly rotation angle about said articulation axis (5) until the ribs of each coupling are brought into locking contact with those of the other to prevent extraction of said male coupling.

7. A vehicle according to claim 6, wherein said transmission coupling means comprise two electrical connectors of which one connector (43) is carried by said articulation hub (34) and the other connector (46) is carried by said vehicle body (2), the electrical connectors facing each other and being coaxial with said articulation axis (5), said connectors each having a base (43) carrying contacts (44) distributed circumferentially around an axis of said base, said contacts of one base being adapted to cooperate with complementary contacts of the other base (45) to enable transmission of said coordination signals.

8. A vehicle according to claim 5, wherein a portion of said inclination drive system (38, 37, 36A) is disposed coaxially with said central volume of said articulation hub (34), and bears on said articulation hub and also, passing through said open outside end of said articulation hub, on said articulation case (39), so as to drive or brake rotation of said case relative to said articulation hub.

9. A vehicle according to claim 5, wherein said drive sprocket wheel (6) comprises:

(a) a transverse tubular drive hub (19) forming a central volume between an inner end fixed to said swing-arm (18) and an open outer end, and

(b) bearings (16, 26A) which guide rotation of said drive sprocket wheel about said drive hub, at least part of said propulsion drive system (22, 23,

     21) being disposed coaxially within said central volume of said drive hub (19), said part of said propulsion drive system bearing on said drive hub and, through said outer end of said drive hub, on said drive sprocket wheel, driving and braking rotation of said sprocket wheel relative to said drive hub.

10. A vehicle according to claim 9, wherein said track guide members (6, 7, 9, 10) comprise two sprocket wheels located at longitudinally opposite ends of said propulsion unit (3), said sprocket wheels and said track having teeth which cooperate one with the other, one (6A) of said sprocket wheels constituting a drive wheel and the other sprocket wheel being a freely rotatable end guide sprocket wheel (7) equipped with a transverse tubular guide hub (27) forming a central volume between an internal end fixed to said swing-arm (18) and an open outer end, a propulsion motion sensor (15) being disposed in said central volume of said guide hub and being coupled to said guide hub and to said sprocket wheel, passing through said outer end of said guide hub, to supply a propulsion motion measurement signal representative of the rotation of said sprocket wheel relative to said guide hub, said transmission means (44, 45, 108, 110) being adapted to transmit said propulsion motion measurement signal to said central control means (102).

11. A vehicle according to claim 8, wherein said propulsion unit further comprises an inclination transmission rod (70) extending along said articulation axis (5) from an outer end fixed to said articulation case (39) through said open outer end of said articulation hub (34) to an inner end situated in said articulation conduit (106), and an inclination sensor (33) fixed between said inner end of said inclination transmission rod and said articulation hub (34) to supply an inclination measurement signal representative of the inclination of said swing-arm (18), said inclination drive systems (38, 37, 36A) surrounding said inclination transmission rod.

12. A vehicle according to claim 1, wherein said vehicle comprises four propulsion units.