Omni-directional terrain crossing mechanism

• US 9,045,177 B2
• Filed: 02/27/2013
• Issued: 06/02/2015
• Est. Priority Date: 02/27/2013
• Status: Active Grant

• Current Assignee: National Taiwan University (Government of The Republic of China)
• Original Assignee: National Taiwan University (Government of The Republic of China)
• Inventors: Chou, Jui-Jen, Yang, Li-Shing, Yang, Cheng-Tse
• Primary Examiner(s): Rocca, Joseph
• Assistant Examiner(s): DUDA, CONAN D
• Application Number:
  US13/778,509
• Publication Number:
  US 20140238755A1
• Time in Patent Office: 825 Days
• Field of Search: 180/8.1, 180/8.2, 180/8.3
• US Class Current: 1/1
• CPC Class Codes: B60F 3/00 Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water buoyant wheels B60B ; equipment forming part of, or attachable to vessels, facilitating transport over land B63C13/00
• CPC Class Codes: B60F 3/0007 Arrangement of propulsion or steering means on amphibious vehicles marine propulsion or steering B63H
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements
• CPC Class Codes: B63B 2035/006 Unmanned surface vessels, e.g. remotely controlled
• CPC Class Codes: B63H 5/02 of paddle wheels, e.g. of stern wheels

Abstract

The present disclosure provides an omni-directional terrain crossing mechanism, including a transformable mechanism with a plurality of claw wheels, in order to be capable of fast moving on the flat ground or in uneven terrain environments. The omni-directional terrain crossing mechanism includes a first body and a second body. Each of the first body and the second body includes at least one pair of claw wheels. Moreover, the omni-directional terrain crossing mechanism is capable of transforming one pair of first claw wheels of the first body and one pair of second claw wheels of the second body into a pair of complete wheels. Consequently, as compared with the existing mobile machines, the omni-directional terrain crossing mechanism in the present disclosure is capable of moving in various challenging terrain environments.

Claims

1. An omni-directional terrain crossing mechanism, comprising:

a first body having at least one pair of first claw wheels and a plurality of support members;

a second body coupled to the first body via a folding motor, the folding motor facilitating folding of the first and second bodies relative to one another, and having at least one pair of second claw wheels;

a first wheel space and a second wheel space, each separately disposed between two of the plurality of support members of the first body and having one of the first claw wheels disposed therein; and

wherein each of the claw wheels further comprises a strengthening spoke as well as a first rim disposed on one end of the spoke and a second rim disposed on the other end of the spoke opposite the first rim, each of the rims having the shape of a quarter circle,

wherein the first claw wheels of the first body combine with the second claw wheels of the second body and are transformed into a pair of complete wheels when the folding motor folds the first and second bodies relative to one another, such that the first and second wheel spaces each accommodate one of the first claw wheels and one of the second claw wheels with the strengthening spokes of the first claw wheels being adjacent and perpendicular to the strengthening spoke of the second claw wheels combined therewith.

2. The omni-directional terrain crossing mechanism as claimed in claim 1, further comprising at least one auxiliary wheel installed in the first body or the second body.

3. The omni-directional terrain crossing mechanism as claimed in claim 1, wherein the one of the first claw wheels comprises the first strengthening spoke and a first claw to form an S-shaped claw wheel or an I-shaped claw wheel, and the one of the second claw wheels comprises the second strengthening spoke strengthen axle and a second claw to form an S-shaped claw wheel or an I-shaped claw wheel.

4. The omni-directional terrain crossing mechanism as claimed in claim 1, further comprising a floating member installed in at least one of the first body and the second body.

5. The omni-directional terrain crossing mechanism as claimed in claim 1, further comprising a telescopic member installed in at least one of the first body and the second body.

6. The omni-directional terrain crossing mechanism as claimed in claim 1, further comprising a plurality of driving motors driving the at least one pair of first claw wheels and the at least one pair of second claw wheels.

7. The omni-directional terrain crossing mechanism as claimed in claim 1, further comprising an alignment member aligning one of the first claw wheels and one of the second claw wheels to form a complete wheel.