Body steered rover

• US 4,932,491 A
• Filed: 03/21/1989
• Issued: 06/12/1990
• Est. Priority Date: 03/21/1989
• Status: Expired due to Fees

• Current Assignee: California Institute of Technology
• Original Assignee: United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration
• Inventors: Collins, Earl R. Jr.
• Primary Examiner(s): HILL, MITCHELL
• Application Number:
  US07/326,815
• Time in Patent Office: 448 Days
• Field of Search: 180/22, 180/209, 180/24.01, 180/24.02, 180/8.2, 180/9.32, 280/5.2, 280/5.22, 280/DIG. 10
• US Class Current: 180/9.32
• CPC Class Codes: B62D 49/08 having means for preventing overturning or tipping safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles B60K28/00
• CPC Class Codes: B62D 53/02 comprising a uniaxle tractor unit and a uniaxle trailer unit see B60B11/00 - B60B11/08
• 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

Abstract

A rough terrain vehicle is described which includes auxiliary wheels that can be deployed to avoid overturning the vehicle when turning while traversing a slope, to climb an embankment or the like, and to right the vehicle when it is overturned. The vehicle includes a pair of front and rear primary wheels, and a pair of auxiliary arms having inner ends pivotally mounted on the front wheel axes and outer ends that carry auxiliary wheels. A motor can turn the arms to move the auxiliary wheels from a stowed position about halfway between the front and rear wheels and above the ground, to a second position against the ground to stabilize the vehicle. The arms can be turned more than 180° to move the auxiliary wheels in front of the front primary wheels to help climb an embankment. The primary wheels can be mounted at the end of primary arms, so when the primary arms are turned they not only move the primary front wheels but also the inner ends of the auxiliary arms.

Claims

1. In a rough terrain vehicle which includes a chassis having front and rear portions and laterally spaced opposite sides, a pair of front primary wheels on either side of the chassis, and a pair of rear primary wheels on either side of the chassis, the primary wheels being rotatably mounted on the chassis about parallel lateral axes, the improvement including:

a pair of auxiliary arms each having an inner end pivotally mounted about an arm axis on said chassis and each having an outer end, said arms being mounted on opposite sides of said chassis;

a pair of auxiliary wheels mounted on the outer ends of said arms;

means coupled to said arms for turning them about their inner ends;

said arms being of a length to move said auxiliary wheels so each lies about halfway between the front and rear primary wheels at the corresponding side of said chassis;

motor means for turning said arms to first positions to move said auxiliary wheels to first positions wherein they lie against the ground and between front and rear primary wheels, and for turning said arms to stowed positions wherein said auxiliary wheels lie above the ground and between front and rear primary wheels.

2. The improvement described in claim 1 wherein:

said inner ends of said arms are mounted on the front portion of said chassis; and

said motor means is constructed to turn said arms to third positions wherein said auxiliary wheels lie forward of said front primary wheels, said motor means generating sufficient torque to turn said arms to lift the front portion of said chassis and said primary wheels off the ground.

4. The improvement described in claim 1 wherein:

said chassis includes a body with front and rear portions, and a pair of front and rear primary arms respectively pivotally mounted on said front and rear body portions, each of said primary arms having an inner end mounted on said body and an outer end;

said front and rear wheels mounted on the other ends respectively at said front and rear primary arms;

the inner ends of said auxiliary arms being pivotally mounted on the outer ends of said front primary arms, whereby to enable further extension of the auxiliary wheels.

3. The improvement described in claim wherein:

,

said forward primary wheels are mounted along a forward primary axis, said inner ends of said arms lie on sides of said forward primary wheels that are farthest from said chassis, and

said auxiliary wheels each lie on a side of a corresponding arm which is closest to the chassis.

5. A rough terrain vehicle comprising:

a chassis which includes a body with opposite sides and with front and rear portions, a pair of front primary arms having inner ends pivotally mounted on either side of said body front portion, and having outer ends and a pair of rear primary arms having inner ends pivotally mounted on either side of said body rear portion and having outer ends;

a pair of front primary wheels rotatably mounted on the outer ends of said front arms, and a pair of rear primary wheels rotatably mounted on the outer ends of said rear arms;

means for turning said primary arms about their inner ends;

a pair of auxiliary arms, each having an inner end pivotally mounted on the outer end of one of said front primary arms and an outer end;

a pair of auxiliary wheels each rotatably mounted on the outer end of one of said auxiliary arms.

6. The rough terrain vehicle described in claim 5 wherein:

said means for turning said primary arms can position them in a predetermined position to extend at about 45°

downward angles from the horizontal with the front and rear primary arms extending away from each other at progressively lower locations therealong;

said auxiliary arm is of a length to position each of said auxiliary wheels about halfway between corresponding front and rear primary wheels when said primary arms lie in said predetermined position.

7. A rough terrain vehicle comprising:

a chassis having front and rear portions and front and rear primary wheel axes, at least a first of said chassis portions including a body connected to the other chassis portion and a pair of primary arms that each has an inner end pivotally mounted on said body and an outer end defining one of said primary wheel axes;

a plurality of primary wheels rotatably mounted on said primary wheel axes;

a pair of auxiliary arms, each having an inner end pivotally mounted on the outer end of one of said primary arms on the primary wheel axis thereof, and having an outer end which includes an auxiliary wheel axis;

a pair of auxiliary wheels, each rotatably mounted on the outer end of one of said auxiliary arms substantially about the auxiliary axis thereat; and

means for turning each of said primary arms about its inner end, and for turning each of said auxiliary arms about the axis at its inner end.

8. A rough terrain vehicle comprising:

a chassis having front and rear portions and front and rear primary wheel axes;

a plurality of primary wheels rotatably mounted on said frame about said axes;

a pair of auxiliary arms, each having an inner end pivotally mounted substantially about one of said wheel axes and having an outer end which includes an axillary wheel axis;

a pair of auxiliary wheels, each rotatably mounted on the outer end of one of said auxiliary arms about the auxiliary axis thereat; and

means for turning each of said auxiliary arms about the axis at its inner end;

said front and rear primary wheels have a predetermined usual separation when the vehicle is moving along even ground;

each of said arms has a length, as measured between the axes at its inner and outer ends, which is between 25% and 75% of said predetermined distance between said front and rear primary wheels.