Dual mode mobile robot

• US 9,096,281 B1
• Filed: 07/30/2014
• Issued: 08/04/2015
• Est. Priority Date: 07/30/2014
• Status: Active Grant

• Current Assignee: China Superrobotics Limited
• Original Assignee: Engineering Services Inc.
• Inventors: Goldenberg, Andrew A., Li, Yi
• Primary Examiner(s): Boehler, Anne Marie
• Application Number:
  US14/447,236
• Time in Patent Office: 370 Days
• Field of Search: 180/9.26, 180/9.28, 180/9.3, 180/9.32, 180/9.34, 180/21, 180/15, 180/209, 180/901, 901/1, 280/5.22, 280/5.28, 280/5.2, 446/94, 446/93, 446/95, 446/433, 446/456
• US Class Current: 1/1
• 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 55/075 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 55/125 Final drives
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A dual mode mobile robot includes a platform and a pair of track wheel driving modules. The pair of track wheel driving modules are attached to opposing sides of the platform. Each of the track wheel driving modules has a track assembly; and a wheel assembly. Each of the track wheel drive modules is moveable from a track position to a wheel position.

Claims

1. A mobile robot comprising:

a platform;

a pair of track wheel driving modules attached to opposing sides of the platform, each of the track wheel driving modules having;

a track assembly;

a wheel assembly;

a pair of a swing arm mechanisms each operably pivotally attached to the platform, each swing arm mechanism having a swing arm, a front wheel operably attached to the swing arm and a front roller operably attached to a distal end of the swing arm and an arm drive motor operably connected to each swing arm and the arm drive motor drives and controls the angle between the platform and the swing arm, and each swing arm having a wheel position and a track position; and

wherein each of the track wheel driving modules is moveable from a track position to a wheel position and wherein in the wheel position the pair of swing arm mechanisms are pivotally used for independent steering of the mobile robot and in the track position the swing arm acts like a flipper.

2. The mobile robot as claimed in claim 1 wherein the track assembly includes a track positioned around a drive pulley and an idler pulley and a track drive operably attached to the drive pulley.

3. The mobile robot as claimed in claim 2 wherein each of the track wheel driving modules includes one of the pair of swing arm mechanisms and wherein the wheel assembly has a rear wheel operably attached at one end of the track assembly and the swing arm is attached to the track assembly and spaced from the rear wheel.

4. The mobile robot as claimed in claim 3 wherein the rear wheel is operably connected to a rear wheel drive.

5. The mobile robot as claimed in claim 4 wherein the rear wheel is a hubless rear wheel.

6. The mobile robot as claimed in claim 3 wherein the track drive is a dual drive system having a track drive mode and a wheel drive mode and the rear wheel is operably connected to the dual drive system.

7. The mobile robot as claimed in claim 6 wherein the dual drive system has one motor that is selectively connectable to a track drive shaft and a wheel drive shaft.

8. The mobile robot as claimed in claim 6 wherein the rear wheel is a hubless rear wheel.

9. The mobile robot as claimed in claim 8 wherein each swing arm is attached to an opposed end of the track assembly.

10. The mobile robot as claimed in claim 3 wherein each swing arm is attached to an opposed end of the track assembly.

11. The mobile robot as claimed in claim 2 wherein the track assembly further includes a tensioning mechanism operably connected to the track.

12. The mobile robot as claimed in claim 1 wherein each of the track wheel driving modules are hingeably attached to the platform and rotates from the track position to the wheel position.

13. The mobile robot as claimed in claim 1 further including an adaptable interface.

14. The mobile robot as claimed in claim 1 wherein each of the track wheel driving modules moves from the track position to the wheel position responsive to a remote control command.

15. The mobile robot as claimed in claim 1 wherein each track of the wheel driving modules moves from the track position to the wheel position autonomously.

16. A mobile robot comprising:

a platform;

a pair of track wheel driving modules attached to opposing sides of the platform, each of the track wheel driving modules having;

a track assembly including a track positioned around a drive pulley and an idler pulley and a track drive operably attached to the drive pulley;

a wheel assembly including a hubless rear wheel operably attached at one end of the track assembly and a swing arm operably pivotally attached at an opposed end to the track assembly and spaced from the rear wheel, the swing arm having a front wheel operably attached thereto;

an arm drive motor operably connected to each swing arm and the arm drive motor drives and controls the angle between the track assembly and the swing arm;

wherein the track drive is a dual drive system having a track drive mode and a wheel drive mode and the rear wheel is operably connected to the dual drive system;

wherein each track wheel driving module is hingeably attached to the platform and rotates from a track position to a wheel position.

17. The mobile robot as claimed in claim 16 further including a rotation mechanism operably attached to each of the track wheel driving modules.

18. The mobile robot as claimed in claim 17 further including an adaptable interface.

19. A mobile robot comprising:

a platform;

a pair of track wheel driving modules attached to opposing sides of the platform, each of the track wheel driving modules having;

a track assembly having a track positioned around a drive pulley and an idler pulley and a track drive operably attached to the drive pulley; and

a wheel assembly having a hubless rear wheel and a wheel drive operably attached to the hubless rear wheel with a drive chain and the hubless rear wheel is positioned such that the track is in the centre thereof and the hubless rear wheel rotates around the track; and

wherein each of the track wheel driving modules is moveable from a track position to a wheel position.

20. The mobile robot as claimed in claim 19 wherein the track drive and the wheel drive are a dual drive system having a track drive mode and a wheel drive mode.