CN101626946B - 用于轻型机器人车辆的悬架系统和该车辆的支承方法 - Google Patents
用于轻型机器人车辆的悬架系统和该车辆的支承方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
- B62D55/305—Track-tensioning means acting on pivotably mounted idlers
Abstract
本发明涉及一种用于轻型自动履带车的悬架系统(10)。该悬架系统设置成用于安装柔性履带(18)。该悬架系统包括履带可环绕其上的向前引导件(14)和向后引导件(16)。定位于向前引导件和向后引导件之间的偏转器(20)将履带的与地面接合的部分向下偏转,以形成尖部区域。该尖部区域(24)可支承轻型机器人车辆,允许相对于支承表面改变载荷在履带的与地面接合的部分上的分布。
Description
相关申请的交叉引用
本申请要求于2006年11月13日向美国专利商标局提交的题为“Conformable Track Assembly For A Robotic Crawler”(用于机器人履带车的顺应性履带组件)的美国临时专利申请No.60/858,805的优先权,在此引用该申请的全部内容作为参考。
技术领域
本发明涉及一种小型无人驾驶地面机器人车辆/自动车辆。更具体地,本发明涉及一种用于安装柔性履带以便支承轻型机器人车辆的悬架系统。
背景技术
无人驾驶机器人车辆可用于各种应用和环境中,例如搜索和救援、军事活动和工业操作。无人驾驶机器人车辆可有助于避免需要将人暴露于危险的环境中,例如不稳定的建筑物、军事冲突情况、和化学、生物或核污染的环境中。
无人驾驶机器人车辆在试图实现机动性时会面临很多挑战。地形的变化很广泛,例如包括崎岖不平的或光滑的表面、坚硬或柔软的地面、松散和易变的材料等。对于小型机器人车辆,挑战会变得甚至更大。在一种环境中运行最佳的车辆可能在另一种环境中运行不佳。
已知使用履带以提供一种较好的折衷,这使得机器人车辆适应地形的各种变化,同时又保持较好的附着力和可操作性。例如,使用一对平行的履带的类似坦克的车辆在某些环境中可提供较高的稳定性。
履带式车辆通常使用滑动转向来进行转向。在滑动转向中,在车辆相对侧上的履带以不同的速率移动。滑动转向的效率较低,因为部分履带垂直于行进方向运动。会存在与这种侧向运动相对的较大的摩擦力。对于较长的履带,必须施加较大的作用力以克服这种摩擦力。对于较小半径的转动来说滑动转向的低效率还会增加。当车辆没有净的向前的运动,仅有围绕中央枢转点的旋转时,滑动转向的低效率处于峰值。较小的转弯半径也会使得由于侧向运动在车辆悬架部件上造成较大的应力。因此,对于可用的驱动动力有限的轻型机器人车辆来说,急转弯是很困难的或不能够得到的。
发明内容
本发明包括一种用于柔性履带的悬架系统,该悬架系统有助于克服现有技术中的问题和不足。在一个实施例中,该悬架系统包括框架,在该框架上安装有向前引导件、向后引导件和至少一个偏转器。履带可环绕向前引导件和向后引导件。偏转器使得履带的向前引导件和向后引导件之间的与地面接合的部分向下偏转,以形成尖部区域。偏转器构造成承受全部载荷的部件,该部件能够相对于支承表面改变载荷在履带的与地面接合的部分上的分布。
附图说明
从下文结合附图的描述和所附权利要求中可以更清楚地看到本发明。应当理解,这些附图仅描述了本发明的示例性实施例,它们不应当被认为是对本发明的范围的限制。可以容易地认识到,文中一般性地描述以及在附图中示出的本发明的部件可布置成或设计成各种不同的构造。但是下面将通过附图更加详细和具体地描述和解释本发明,其中:
图1示出根据本发明的示例性实施例的用于安装柔性履带的悬架系统的透视图;
图2示出根据本发明的另一实施例的具有悬架系统的轻型机器人车辆的透视图;
图3示出根据本发明的另一示例性实施例的用于安装柔性履带的悬架系统的侧视图;
图4示出根据本发明的又一示例性实施例的用于安装柔性履带的悬架系统的侧视图;以及
图5示出根据本发明的实施例的用于将轻型机器人车辆支承于履带上的方法的流程图。
具体实施方式
下文对本发明的示例性实施例的详细描述参考了附图,该附图形成描述的一部分,在该附图中作为示例示出了本发明可实施的示例性实施例。尽管这些示例性实施例被充分详细地描述以使得本领域技术人员能够实施本发明,但应当理解可实现其他实施例且可在不脱离本发明的精神和范围的情况下对本发明作各种改变。因此,下文对本发明的实施例的更详细的描述并不用于限制所要求的本发明的范围,而仅仅为了进行举例说明且不限制对本发明的特点和特征的描述,以提出执行本发明的最佳方式,并足以使得本领域技术人员能够实施本发明。从而,本发明的范围仅由所附权利要求来限定。
下文对本发明的详细描述和示例实施例可结合附图来更好地理解,其中本发明的元件和特征由附图标记标识。
结合图1,该附图示出根据本发明的第一个示例性实施例的用于将柔性履带安装于其上以便支承轻型机器人车辆的悬架系统。具体地,图1示出悬架系统10,该悬架系统10包括框架12,该框架具有与框架相联接的向前引导件14和向后引导件16。履带18可环绕向前引导件和向后引导件。偏转器20在向前引导件和向后引导件之间联接于框架。偏转器使得履带的与地面接合的部分22向下偏转以形成尖部区域24。偏转器是承受载荷的构件,能够支承轻型机器人车辆。因此,偏转器能够相对于支承表面改变载荷在履带的与地面接合的部分上的分布。换句话说,偏转器可延伸或收缩,以造成机器人车辆的重量在履带的与地面接合的部分上的不同分布。例如,偏转器可延伸,以使机器人车辆的重量基本集中在偏转器下面(履带的)与地面接合的部分上。作为另一示例,偏转器可收缩,以使自动装置的重量基本在履带的整个与地面接触的部分上分布。当然,也存在这两个极端之间的其它不同的重量分布。重量在履带的与地面接合的部分上的实际分布随着偏转器的偏转量和轻型机器人车辆运行的表面属性而变化。从而,通过偏转器的操作可相对于支承表面改变轻型机器人车辆的取向。
下面描述使用根据本发明的实施例的悬架系统的轻型机器人车辆的运行。图2示出使用两个履带单元28a、28b的轻型机器人车辆26的示例性串联构型,每个履带单元具有绕车辆框架12a、12b支承的履带18a、18b,并具有上述悬架系统10。履带单元通过铰接臂30连结在一起。例如,于2006年11月13日提交的题为“Serpentine Robotic Crawler”的美国临时专利申请No.60/858,917描述了一种蛇形自动履带车,在该蛇形自动履带车中可使用本发明的悬架系统,该专利申请是本申请人共同拥有的且在此引用其全部内容作为参考。
轻型机器人车辆26在支承表面32上运行。当在支承表面的坚硬的区域33上运行时,履带的尖部区域24a有助于支承履带单元28a的基本全部的重量。相比之下,当在支承表面的柔软的区域34上运行时,履带的尖部区域24b将陷入支承表面中,且履带单元28b的重量分布在履带的与地面接合的部分22b上。可以认识到,可协调履带18a、18b和铰接臂30的操作,以使轻型机器人车辆在履带的尖部区域上保持平衡。
当使用悬架系统10的轻型机器人车辆在坚硬的表面上运行时,偏转器将轻型机器人车辆升起使得履带的大部分离开支承表面。从而,仅仅是履带在尖部区域24附近的较小的区域与支承表面接触。这在执行滑动转向时有助于减小摩擦,从而和常规履带相比允许较小转弯半径,所述常规履带设置了平坦的与地面接合的表面。因此,和履带式车辆相比,转弯性能更能和轮式车辆相提并论。
当轻型机器人车辆在柔软的表面上运行时,履带的较大的与地面接触区域和支承表面相接触。这提供了比轮式车辆更好的附着力。但是,转弯半径并无较大地减小,因为柔软的表面给履带的侧向运动提供较小的摩擦力。这样,在坚硬的表面上,与常规履带相比,所述悬架系统在转弯半径上提供了改进;而在柔软表面上,所述悬架系统保持了履带的附着优点。
能够对悬架10的部件作各种不同布置。又结合图1,向前引导件14、向后引导件16和偏转器20可以是可转动地安装于框架12的滚轮(roller)。向前引导件、向后引导件和偏转器可相对于彼此安装在框架上的固定的位置,但是这并不是必要的。或者,向前引导件、向后引导件或偏转器能够是可动的,以例如帮助保持履带中的张拉力不变。
偏转器20还可包括载荷传感元件(未示出)。例如,载荷传感元件可以是本领域已知的测力仪、应变仪、压力传感器等。在轻型机器人车辆运行期间,偏转器可支承轻型机器人车辆的重量的不同部分,这样,偏转器上的载荷传感元件可提供用于控制轻型机器人车辆的有用的信息。例如,轻型机器人车辆可以是类似坦克的构造,其中在车辆的每一侧上设置平行的履带。每个履带可包括偏转器和相关联的载荷传感元件。当车辆处于发生侧向倾翻的危险中时,在一个偏转器上检测到的载荷将远远超过另一偏转器(上检测到的载荷)。从而可采取调整措施。
如图3所示,根据本发明的另一实施例,悬架系统40可包括可动偏转器组件42。例如,偏转器20可安装于活塞杆44,该活塞杆44被液压缸46向上和向下驱动。这使得在轻型机器人车辆的运行期间可调节履带的向下偏转量。例如,当在硬的表面上运行时,偏转器可向下移动以便提供急剧弯曲的尖部区域,以使得可急转弯。当在柔软的表面运行时,偏转器可向上移动以提供较平坦的与地面接合的区域,以便使得附着力最大。可选地,可包括履带张拉部件(未示出),以在偏转器向上或向下移动时,保持履带的合适的张拉力。液压缸能够产生足够的作用力以使得能够支承轻型机器人车辆的全部重量。例如,对于20磅重(或更轻)的轻型机器人车辆,20磅(或更大)的向下的偏转器作用力足以使得履带的尖部区域承载轻型机器人车辆的全部重量。由于偏转器能够支承轻型机器人车辆的全部重量,可以理解,较重的车辆需要较坚固的偏转器设计。从而,可以预料轻型机器人车辆比大型、重型车辆更适于本发明的实施例。更特别地,尽 管很多不同的偏转器构造适于支承轻型机器人车辆,但是能够支承例如大型坦克的单个偏转器在某种程度上是不可行的。
如图4所示,根据本发明的另一实施例,悬架系统50可包括多个联接于框架12的偏转器52a、52b、52c。多个偏转器使履带的与地面接合的部分向下偏转,以使得尖部区域形成弯曲的形状。多个偏转器可提供各种不同的轮廓,从而可针对具体的环境使得尖部区域的细节形状最佳。例如,在运行过程中,多个可动偏转器可用于动态地改变尖部区域的形状,以及调节轻型机器人车辆的竖直取向或俯仰角(pitch)。多个偏转器还可在使得轻型机器人车辆的载荷在多个部件上分布的方面提供益处。如上文所述,偏转器可包括载荷传感元件。偏转器的运行可根据从载荷传感器获得的测量值而进行改变。
如图5所示,根据本发明的另一实施例,以流程图的形式示出了用于将轻型机器人车辆支承于履带上的方法。该方法总体由60表示,包括步骤62:环绕轻型机器人车辆的向前引导件和向后引导件设置履带。例如,具有向前引导件和向后引导件的悬架系统的各种示例在上文已描述了。该方法还包括步骤64:使履带在向前引导件和向后引导件之间的与地面接合的部分沿向下的方向偏转,以形成履带的尖部区域。在上文中已经描述了偏转器的各种示例。最后,该方法包括步骤66:由尖部区域至少部分地支承轻型机器人车辆,以便能够相对于支承表面改变载荷在履带的与地面接合的部分上的分布。例如,如上所述,轻型机器人车辆可在尖部区域上被平衡。作为另一示例,轻型机器人车辆可在尖部区域上枢转,以便提供较小半径或零半径的转弯。
可选地,如上所述,该方法可包括在坚硬的表面上操作轻型机器人车辆,使得履带的尖部区域基本支承轻型机器人车辆的全部重量。这可有助于提供较小半径的转弯。此外,如上所述,该方法可包括在柔软的表面上操作轻型机器人车辆,使得轻型机器人车辆的重量分布到履带的与地面接合的部分上。这可有助于提供较大的附着力。
例如如上所述,该方法可以还包括将所述轻型机器人车辆联接于第二 轻型机器人车辆。可协调相联接的轻型机器人车辆的操作,以使轻型机器人车辆中的一个(或两个)在尖部区域上保持平衡。
最后,该方法可以还包括将偏转器向上或向下移动。例如,向下移动偏转器可产生履带的较急剧(strongly)的尖部区域,以提供较小的转弯半径。向上移动偏转器可产生履带的较平坦的与地面接合的部分,以便提供较好的附着力。
综上所述,已经描述了各种履带悬架系统构型,这些履带悬架系统构型和现有技术相比具有各种优点。例如,将履带的与地面接合的表面的一部分偏转以形成尖部区域可为在坚硬的表面上运行的轻型机器人车辆提供较小的转弯半径。可包括多个和/或可动偏转器,以允许改变尖部区域的形状。使用本发明的实施例的轻型机器人车辆可提供改进的转弯半径而不丧失由较大的履带与地面接合的部分提供的附着力的优点。
在上文中结合具体的示例性实施例详细描述了本发明。但是,应当理解,可进行各种修改和变型而不脱离由所附权利要求限定的本发明的范围。详细的描述和附图应仅被认为是说明性的,而不是限制性的,如果存在任何这样的修改和变型,那么它们都将落入在此描述的本发明的范围内。
更具体地,尽管在此已经描述了本发明的示例性实施例,但是本发明并不局限于这些实施例,而是包括本领域技术人员根据前面的详细描述可认识到的经过修改、省略、(例如各个实施例之间的)组合、适应性改变和/或替换的任何和全部实施例。权利要求中的限定可根据权利要求中使用的语言而进行广泛的解释,且不限于在前述详细描述中或在实施该申请期间描述的示例,这些示例应被认为是非排他性的。例如,在本发明中,术语“优选地”不是排他性的,这里它的意思是“优选地,但是并不限于”。在任何方法或过程权利要求中列举的任何步骤可以以任何顺序执行并且不限于权利要求中提出的顺序。手段/装置加功能或步骤加功能的限定仅用在对于具体的权利要求的限定出现所有以下条件之处:a)在此限定中明确地记载了“用于…的手段/装置”或“用于…的步骤”;b)在此限定中明确地记载了对应的功能;和c)在说明书中描述了支持该功能的结构、材料 或作用。因此,本发明的范围应当仅由所附权利要求及其合法等同物来确定,而不是由上文给出的说明和示例来确定。
Claims (17)
1.一种用于具有串联履带的轻型机器人车辆的悬架系统,该悬架系统包括:
框架;
向前引导件,该向前引导件联接于框架并构造成接纳围绕向前引导件的第一履带的环绕部分;
向后引导件,该向后引导件联接于框架并构造成接纳围绕向后引导件的第一履带的环绕部分;和
至少一个偏转器,该偏转器可在向前引导件和向后引导件之间操作框架,所述至少一个偏转器构造成将第一履带的向前引导件和向后引导件之间的与地面接合的部分向下偏转以便形成尖部区域,
其特征在于,轻型机器人车辆可通过由铰接臂与第一履带串联的第二履带而选择性地稳定在第一履带的尖部区域上。
2.根据权利要求1所述的悬架系统,其特征在于,所述至少一个偏转器相对于向前引导件和向后引导件中的至少一个处于固定的位置。
3.根据权利要求1所述的悬架系统,其特征在于,所述向前引导件和向后引导件以固定的相对位置联接于框架。
4.根据权利要求1所述的悬架系统,其特征在于,所述向前引导件和向后引导件都是滚轮。
5.根据权利要求1所述的悬架系统,其特征在于,所述至少一个偏转器是滚轮。
6.根据权利要求1所述的悬架系统,其特征在于,该悬架系统还包括多个偏转器,所述多个偏转器联接于框架的向前引导件和向后引导件之间的位置,并构造成将履带的与地面接合的部分向下偏转,以将尖部区域形成为弯曲的形状。
7.根据权利要求1所述的悬架系统,其特征在于,所述偏转器构造成当轻型机器人车辆的重量小于20磅时支承轻型机器人车辆。
8.根据权利要求1所述的悬架系统,其特征在于,还包括支承第二履带的第二框架,该第二框架包括向前引导件和向后引导件,该向前引导件和向后引导件联接到第二框架并构造成接纳第二履带的相应环绕部分。
9.根据权利要求8所述的悬架系统,其特征在于,第二框架包括位于向前引导件和向后引导件之间的至少一个偏转器,该至少一个偏转器构造成在向前引导件和向后引导件之间向下偏转第二履带的与地面接合的部分,以在第二履带上形成尖部区域。
10.根据权利要求9所述的悬架系统,其特征在于,框架和第二框架的偏转器可选择性地接合,以同时将两个车辆框架至少部分地支承在各自的尖部区域。
11.一种用于将轻型机器人车辆支承在至少两个履带上的方法,包括:
环绕轻型机器人车辆的向前引导件和向后引导件设置第一履带;
选择性地使第一履带的向前引导件和向后引导件之间的至少一个与地面接合的部分沿向下方向偏转,以形成第一履带的尖部区域;
其特征在于,利用通过铰接臂与第一履带串联的第二履带,将轻型机器人车辆至少部分地稳定在尖部区域上,以便能够相对于支承表面改变载荷在第一履带的与地面接合的部分上的分布。
12.根据权利要求11所述的方法,其特征在于,该方法还包括在坚硬的表面上操作轻型机器人车辆,使得履带的尖部区域支承轻型机器人车辆的基本全部重量。
13.根据权利要求11所述的方法,其特征在于,该方法还包括在柔软的表面上操作轻型机器人车辆,使得该轻型机器人车辆的重量分布在履带的与地面接合的部分。
14.根据权利要求11所述的方法,其特征在于,该方法还包括:
将轻型机器人车辆联接到第二轻型机器人车辆;以及
使轻型机器人车辆与第二轻型机器人车辆的操作相协调,以使轻型机器人车辆在尖部区域上保持平衡。
15.根据权利要求11所述的方法,其特征在于,该方法还包括沿竖直轴线选择性地偏转所述与地面接合的部分,以改变履带尖部区域的弯曲程度。
16.根据权利要求11所述的方法,其特征在于,该方法还包括沿向上的方向移动偏转器,以便产生履带的平坦的与地面接合的部分。
17.根据权利要求11所述的方法,其特征在于,该方法还包括:
沿向下的方向选择性地偏转第一履带和第二履带的与地面接合的部分,以形成两个履带的尖部区域;以及
使履带的操作相协调,以使车辆在尖部区域上保持平衡。
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IL198670A0 (en) | 2010-02-17 |
US20080217993A1 (en) | 2008-09-11 |
EP2081814B1 (en) | 2011-04-06 |
IL198670A (en) | 2013-05-30 |
US8002365B2 (en) | 2011-08-23 |
JP2010509125A (ja) | 2010-03-25 |
EP2081814A2 (en) | 2009-07-29 |
DE602007013793D1 (de) | 2011-05-19 |
WO2008073203A2 (en) | 2008-06-19 |
WO2008073203A3 (en) | 2008-09-12 |
US8205695B2 (en) | 2012-06-26 |
CN101626946A (zh) | 2010-01-13 |
JP5495786B2 (ja) | 2014-05-21 |
US20100201185A1 (en) | 2010-08-12 |
EP2258608A1 (en) | 2010-12-08 |
ATE504486T1 (de) | 2011-04-15 |
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