Collapsible mobile vehicle

• US 5,451,135 A
• Filed: 04/02/1993
• Issued: 09/19/1995
• Est. Priority Date: 04/02/1993
• Status: Expired due to Fees

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Schempf, Hagen, Whittaker, William L.
• Primary Examiner(s): Underwood, Donald W.
• Application Number:
  US08/041,563
• Time in Patent Office: 900 Days
• Field of Search: 414/729, 414/680, 414/694, 180/DIG. 906, 180/9.48, 180/9.46, 180/184, 180/192, 172/811, 172/815, 172/820, 172/821, 280/42, 165/11.2, 901/1
• US Class Current: 414/694
• CPC Class Codes: B08B 9/0933 Removing sludge or the like from tank bottoms
• 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 55/084 Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units B62D55/07 takes precedence
• CPC Class Codes: B62D 57/036 screw type, e.g. Archimedian screw amphibious vehicles comprising screw-type ground-engaging means B60F3/0023
• CPC Class Codes: E02F 9/024 with laterally or vertically adjustable wheels or tracks for vehicles in general B60B35/10; B62D55/084

Abstract

A mobile vehicle having a substantially hexagonally-shaped frame member that is movable between a collapsed position to enable the vehicle to enter a vessel opening or an area having constrained access points and a more stable expanded position. Drive apparatuses are attached to the frame member for driving the vehicle on a surface. The vehicle is also equipped with a tether line that is used to supply control power to the vehicle drives and to deploy and retrieve the vehicle. Various collapsible tool members are operably attached to the vehicle for performing various tasks within an enclosed environment.

Claims

1. A mobile vehicle for use in an enclosed vessel having an opening therein comprising:

a frame member movable between a first collapsed position wherein said frame member can enter the vessel through the opening therein and a second expanded position, said frame member comprising first and second side members and a pair of collapsible frame assemblies, each said collapsible frame assembly comprising two pivotally interconnected linkage members, one linkage member having one end thereof pivotally attached to said first side member and the other of said linkage members having one end thereof pivotally attached to said second side member such that each said collapsible frame assembly extends between said first and second side members;

drive means attached to said frame member for propelling said frame member;

rotary actuator means pivotally interconnecting the linkage members of at least one of said collapsible frame assemblies for selectively moving said frame member between said first and second positions; and

tool means operably attached to said frame member for performing a task in the vessel.

2. The mobile vehicle of claim 1 further comprising control means located outside of said vessel and communicating with said mobile vehicle to enable said mobile vehicle to be controlled by personnel located outside of said vessel.

3. The mobile vehicle of claim 2 further comprising a tether means attached to said frame member, said tether means supplying power to said vehicle from a remote power source and providing a means whereby said vehicle may be deployed and retrieved by a vehicle retrieval means located outside of the vessel.

4. The mobile vehicle of claim 1 wherein said drive means comprises a plurality of surface engaging endless driven members attached to said frame member for driving said frame member on a surface.

5. The mobile vehicle of claim 4 wherein said endless driven members are driven by hydraulic motors.

6. The mobile vehicle of claim 4 wherein said endless driven members are driven by electric motors.

7. The mobile vehicle of claim 4 wherein said endless driven members are driven by pneumatic motors.

8. The mobile vehicle of claim 1 wherein said drive means comprises a plurality of driven elliptically-shaped cylinders each having a helically wound, surface engaging member attached to the outer surface thereof.

9. The mobile vehicle of claim 8 wherein said plurality of elliptically shaped cylinders are hydraulically driven.

10. The mobile vehicle of claim 8 wherein said plurality of elliptically shaped cylinders are electrically driven.

11. The mobile vehicle of claim 10 wherein said plurality of elliptical shaped cylinders are pneumatically driven.

12. The mobile vehicle of claim 1 wherein said drive means comprises a plurality of driven wheels operably attached to said frame member.

13. The mobile vehicle of claim 12 wherein said plurality of driven wheels are hydraulically driven.

14. The mobile vehicle of claim 12 wherein said plurality of driven wheels are electrically driven.

15. The mobile vehicle of claim 12 wherein said plurality of endless driven wheels are pneumatically driven.

16. The mobile vehicle of claim 1 wherein said rotary actuator means comprises:

a first rotary actuator pivotally interconnecting the linkage members of one said collapsible frame assembly for selectively extending and collapsing said collapsible frame assembly; and

a second rotary actuator pivotally interconnecting the linkage members of the other said collapsible frame assembly for selectively extending and collapsing the other said collapsible frame assembly.

17. The mobile vehicle of claim 16 wherein said first and second actuators are hydraulically powered rotary actuators.

18. The mobile vehicle of claim 16 wherein said first and second actuators comprise electrically powered rotary actuators.

19. The mobile vehicle of claim 16 wherein said first and second actuators comprise pneumatically powered rotary actuators.

20. The mobile vehicle of claim 1 wherein said tool means is operably attached to said frame member by a pivotable manipulator arm operably attached to said frame member, said pivotable manipulator arm having tool gripping means attached thereto for gripping and manipulating said tool means thereby.

21. The mobile vehicle of claim 20 wherein said tool means is selected from the group containing a hook member, a prybar, and a bucket member.

22. The mobile vehicle of claim 20 further comprising video camera means and light means attached to said pivotable manipulator arm.

23. The mobile vehicle of claim 1 wherein said tool means comprises an articulated backhoe boom operably attached to said frame member, said backhoe boom having a bucket member operably attached thereto.

24. The mobile vehicle of claim 1 wherein said tool means comprises plowing means attached to said frame member.

25. The mobile vehicle of claim 24 wherein said plowing means comprises a collapsible plow member attached to said frame member.

26. The mobile vehicle of claim 25 wherein said collapsible plow member comprises:

a support member pivotally attached to said frame member;

first and second blade members pivotally attached to said support member, said first and second blade members being pivotal between an open position wherein said blade members are aligned to form a continuous plow and a collapsed position wherein said first and second blade members are positioned in a substantially confronting relationship to one another; and

first blade actuator means attached to said support member for selectively pivoting said first and second blade members between said open and collapsed positions.

27. The mobile vehicle of claim 26 wherein said first blade actuator means comprises a first rotary actuator attached to said support member and said first blade member for pivoting said first blade member between said open and collapsed positions and a second rotary actuator attached to said support member and said second blade member for pivoting said second blade member between said open and collapsed positions.

28. The mobile vehicle of claim 26 further comprising second blade actuator means, said second blade actuator means being attached to said support member for selectively raising and lowering said support member with respect to said frame member to simultaneously raise and lower said first and second blade members with respect to said frame member.

29. The mobile vehicle of claim 26 further comprising means for pivoting said collapsible plow member at an angular orientation with respect to said frame member.

33. The mobile vehicle of claim 1 wherein said tool means comprises camera means operably attached to said frame member.

30. A collapsible plow attachable to the frame of a mobile vehicle comprising:

a support member pivotally attachable to the frame of the vehicle;

first and second blade members pivotally attached to said support member, said first and second blade members being pivotal between an open position wherein said blade members are aligned to form a continuous plow and a collapsed position wherein said first and second blade members are positioned in a substantially confronting relationship to one another; and

a first rotary actuator attached to said support member and said first blade member for selectively pivoting said first blade member between said open and collapsed positions and a second rotary actuator attached to said support member and said second blade member for pivoting said second blade member between said open and collapsed positions.

31. The collapsible plow of claim 30 further comprising second blade actuator means attached to said support member and the vehicle frame for selectively raising and lowering said support member with respect to the vehicle frame.

32. The collapsible plow of claim 30 further comprising means connected at the pivotal connection of the support member and the frame for moving said collapsible plow to an angular orientation with respect to said frame of said mobile vehicle.