DRIVE GUARD FOR A MOTIVE TRACK
This invention is in the field of drive assemblies and components for tracked motive vehicles, and more particularly to side guard plates for the track assemblies on tracked motive vehicles.
BACKGROUND
There are many different types of systems to propel a vehicle; tires being the most common means of doing so. However, vehicles that have a tire or a set of tires and that encroach on soft or sensitive surfaces can cause damage to the surface. This is because tires concentrate the weight of the vehicle onto a very small surface area, namely, the area of the tire which is in contact with the ground surface. The focused weight on a given area can damage the surface, or at least disturb the surface on which the vehicle is moving. For example, a bomb-disposal robot will inevitably be travelling on sensitive ground. A wheeled robot can easily disturb this ground by heavy movement of the robot concentrated on specific areas of the ground, thus making movement unsteady and unpredictable, and also shaking or disturbing the ground which can cause an early detonation of the bomb. Furthermore, tires are less capable of negotiating obstacles, making them less useful for off-road mobility.
In order to more evenly distribute the weight of a vehicle or robot over a greater surface area, tracks or treads are sometimes used in place of wheels. Treads or tracks generally comprise a flexible strip of material, which are usually made out of individual links that are hinged together to allow the links to pivot vertically relative to one another. The tracks are wrapped around a set of sprockets, typically forming a continuous loop. As the bottom length of the track or tread is laid out over the ground, the weight of the vehicle or robot is spread over the bottom length relatively evenly, resulting in a lower specific ground pressure and thus minimizing disturbance of the surrounding area.
Tracked vehicle typically comprises a plurality of track assemblies mounted to a power unit and a vehicular platform. Each track assembly typically comprises a plurality of sprockets around which a continuous loop of mating track is provided. A "drive sprocket" is driven by an engine, which is typically mounted above the contact area on _ the ground. The drive sprocket could be positioned at the front or back of the vehicle, or could be positioned at both. In this way, the drive sprocket transmits motion to the tracks or treads, which consequently rotates the other sprockets. The track passes between the ground and free-spinning wheels or sprockets, also known as bogies or idlers, which transfer the weight of the tracked vehicle or robot across the bottom length of the track.
Two important aspects of a tracked motive platform's mobility are its speed across terrain, which is largely dependent on the weight of the tracked vehicle, and it ability to climb obstacles, also known as its vertical obstacle capability. The treads of the tracks can provide relatively good traction in soft terrain, while rubber pads can be installed onto the tracks in order to provide the ability to grip the surfaces upon which the vehicle or robot is moving. Tracks are, in this way, generally capable of tackling most types of terrain including off-road type terrains, but are often only lightly armoured and can be particularly prone to mechanical failure.
Both in terms of tactical platforms are vehicles, which require armor proofing, as well as other general vehicles using track drives which require protection from the elements and foreign material entering the drive train, it is typically desirable to protect the interior of a track assembly from the entry of foreign debris, explosives or other material.
For this reason, many tracked vehicles and robots frequently have side skirts or "drive guards" to protect the suspension or the hull. Armouring of the hull through the use of drive guards can provide a weather-resistant casing and can also protect the sides of the vehicle or robot from gunfire, debris, or otherwise.
Conventional drive guards suffer from many drawbacks. For example, tanks such as heavily armoured infantry tanks and robots can oftentimes be very heavy and for this reason, can also be very slow. This is typically due to their heavily armoured nature. To this point, it has generally been understood that an increase in armoury protection will increase the weight and therefore decrease manoeuverability. A reduction in weight will allow the vehicle to move faster and decrease the overall vehicle weight to ease transportation.
Furthermore, typical drive guards, while substantially covering a hull's suspension, can be a hindrance to the tracked vehicle's negotiability of obstacles.
Specifically, the presence of the drive guard which covers the vehicle's suspension limits the flexibility of the vehicle's track because the track can only flex inwardly insofar as the drive guard is not present. Since typical drive guards cover substantially the full area of the suspension, the track cannot generally flex to engage with obstacles, but rather reacts to obstacles by repelling them with the tough and rigid drive guard. When the tracked vehicle encounters obstacles, the obstacles will generally be repelled by the drive guard upon contact, which can further push the obstacle forward, can halt the vehicle from moving forward, can damage the drive guard or the vehicle suspension, or any combination of those results.
It would be advantageous to have a tracked vehicle with enhanced mobility over rough terrain which is capable of crossing breaks in terrain and climbing obstacles by engaging obstacles rather than repelling obstacles and which also has a decreased weight, without substantially compromising the vehicle's armour protection.
SUMMARY OF THE INVENTION
It is the object of the present invention to provide a planar drive guard for use in a motive track assembly which allows for enhanced gripping ability of the track as it travels over uneven terrain.
The invention comprises a planar drive guard with enhanced movement ability and ability to negotiate obstacles. Particularly, the drive guard is reduced in weight and can allow a track assembly and tracked vehicle to maneuver over rough terrain and climb objects much easier due to the indentations around the periphery of the drive guard.
The indentations or grip-enhancing recesses in the periphery of the drive guard can allow the track to flex inwardly in conformance with the indentations in the drive guard to engage any obstacles the track assembly or tracked vehicle encounters.
Broadly speaking the invention, planar drive guard for use in a motive track assembly comprising a plurality of rotatably mounted sprockets in a continuous loop of track their around whereby the continuous loop as an interior perimeter defining the approximate path of travel of the track, has an exterior face, and interior face, and a peripheral edge.
The peripheral edge in overall shape of the drive guard correspond approximately to the interior perimeter shape or configuration of the continuous loop of track for which it is intended. The drive guard is mountable then within the interior perimeter of that track so as to cover substantially the plurality of rotatably mounted sprockets therein. The key to the enhanced performance of the planar drive guard of the present invention is the inclusion of at least one grip enhancing recess along the peripheral edge of the drive guard, positioned such that it will provide an inwardly flexible area for the track between at least two adjacent of the sprockets when the drive guard is mounted in position within the interior perimeter of the continuous loop of track. When the continuous loop of track travels therearound and encounters an upward ground obstacle, the grip enhancing recess will allow the track to flex inwards and maintain maximized engagement with the drive surface.
In certain cases a motive track assembly will include a configuration for at least one forward leaning climbing face. In the case of at least one forward leaning climbing face in the track assembly to which it is desired to fit the drive guard of the present invention, the drive guard would potentially incorporate at least one if not more grip enhancing recesses into its own corresponding forward leaning climbing face edge.
The planar drive guard of the invention also can act generally speaking as an interior mounted guide plate for the continuous track of the track assembly, as it will generally speaking support the continuous loop of track as it were to travel around the outer circumference or peripheral edge of the planar drive guard.
In addition to the planar drive guard of the present invention, the present invention also includes a motive track assembly which incorporates the planar drive guard concept of the invention. The track assembly includes a plurality of rotatably mounted sprockets, suspended on axles, with a continuous loop of track traveling their around. At least one of the sprockets of that track assembly will be adapted to be connected to vehicular power. In addition to the sprockets and continuous loop of track which when in position around the sprockets defines an interior perimeter, the track assembly of the invention also uses a planar drive guard having an exterior face, and interior face, and a peripheral edge. The peripheral edge and overall shape of the drive guard correspond approximately to the interior perimeter shape or configuration of the continuous loop of track for which it is intended. The drive guard is mountable then within the interior perimeter of that track so as to cover substantially the plurality of rotatably mounted sprockets therein.
The key to the enhanced performance of the planar drive guard of the present invention is the inclusion of at least one grip enhancing recess along the peripheral edge of the drive guard, positioned such that it will provide an inwardly flexible area for the track between at least two adjacent of the sprockets when the drive guard is mounted in position within the interior perimeter of the continuous loop of track. When the continuous loop of track travels therearound and encounters an upward ground obstacle, the grip enhancing recess will allow the track to flex inwards and maintain maximized engagement with the drive surface.
In certain cases a motive track assembly will include a configuration for at least one forward leaning climbing face. In the case of at least one forward leaning climbing face in the track assembly to which it is desired to fit the drive guard of the present invention, the drive guard would potentially incorporate at least one if not more grip enhancing recesses into its own corresponding forward leaning climbing face edge.
The planar drive guard of the invention also can act generally speaking as an interior S mounted guide plate for the continuous track of the track assembly, as it will generally speaking support the continuous loop of track as it were to travel around the outer circumference or peripheral edge of the planar drive guard.
Broadly speaking the invention, planar drive guard for use in a motive track assembly comprising a plurality of rotatably mounted sprockets in a continuous loop of track their around whereby the continuous loop as an interior perimeter defining the approximate path of travel of the track, has an exterior face, and interior face, and a peripheral edge.
The peripheral edge in overall shape of the drive guard correspond approximately to the interior perimeter shape or configuration of the continuous loop of track for which it is intended. The drive guard is mountable then within the interior perimeter of that track so as to cover substantially the plurality of rotatably mounted sprockets therein. The key to the enhanced performance of the planar drive guard of the present invention is the inclusion of at least one grip enhancing recess along the peripheral edge of the drive guard, positioned such that it will provide an inwardly flexible area for the track between at least two adjacent of the sprockets when the drive guard is mounted in position within the interior perimeter of the continuous loop of track. When the continuous loop of track travels therearound and encounters an upward ground obstacle, the grip enhancing recess will allow the track to flex inwards and maintain maximized engagement with the drive surface.
In certain cases a motive track assembly will include a configuration for at least one forward leaning climbing face. In the case of at least one forward leaning climbing face in the track assembly to which it is desired to fit the drive guard of the present invention, the drive guard would potentially incorporate at least one if not more grip enhancing recesses into its own corresponding forward leaning climbing face edge.
The planar drive guard of the invention also can act generally speaking as an interior mounted guide plate for the continuous track of the track assembly, as it will generally speaking support the continuous loop of track as it were to travel around the outer circumference or peripheral edge of the planar drive guard.
In accordance with a further broad aspect of the present invention, there is provided a track assembly with an internal guard system having a plurality of sprockets suspended on axles, a continuous track forming a continuous loop around the plurality of sprockets, and a drive guard. The drive guard has a drive guard having a exterior face, a interior face, and a peripheral edge, the interior face of the drive guard substantially covering an area defined by the continuous loop. The peripheral edge defines at least one grip-enhancing recess extending inwardly between at least two adjacent of the sprockets, the most grip-enhancing recessed portion of which extends within the continuous loop of the continuous track.
A tracked vehicle incorporating the track assembly and planar drive guard of the present invention is also disclosed.
The drive guard has a reduced weight due to the decreased amount of material required to make the drive guard, and more specifically, to fill in the grip-enhancing recesses around the periphery. The decreased weight can enhance mobility of a corresponding track assembly or tracked vehicle by requiring less horsepower to transport the drive guard, potentially increasing the speed at which the vehicle can travel. The grip-enhancing recesses can further allow the track assembly or tracked vehicle to negotiate obstacles more efficiently by allowing the track to engage with the obstacle, rather than deflecting the obstacle off of a rigid edge of a drive guard.
DESCRIPTION OF THE DRAWINGS
While the invention is claimed in the concluding portions hereof, preferred embodiments are provided in the accompanying detailed description which may be best understood in conjunction with the accompanying diagrams where like parts in each of the several diagrams are labeled with like numbers, and where:
Fig. 1 is a perspective view of a drive guard as found in the prior art installed on a track assembly;
Fig. 2 is a side elevation view of a typical track assembly as found in the prior art;
Fig. 3 is a perspective view of a drive guard in accordance with an embodiment of the present invention;
Fig. 4 is a perspective view of a drive guard in accordance with a further embodiment of the present invention installed on a track assembly;
Fig. 5 is a close-up perspective cutaway view of the drive guard installed on a track assembly shown in Fig. 4;
Fig. 6 is a side elevation view of a drive guard in a further embodiment of the present invention installed on a track assembly;
Fig. 7 is a side elevation view of a drive guard in a further embodiment of the present invention installed on a track assembly;
Fig. 8 is a perspective view of the track assembly with drive guard shown in Fig.
4 installed on a platform;
Fig. 9 is an alternate perspective view of the track assembly with drive guard shown in Fig. 4 installed on a platform;
Fig. 10A is a schematic view of a track assembly and drive guard in accordance with the present invention approaching an obstacle;
Fig. 1013 is a schematic view of the track assembly with drive guard shown in Fig.
10A contacting the obstacle;
Fig. 10C is a schematic view of the track assembly with drive guard shown in Fig.
10A reacting the obstacle;
Fig. 10D is a schematic view of a track assembly and drive guard in accordance with the present invention approaching a piece of debris;
Fig. IOE is a schematic view of the track assembly with drive guard shown in Fig.
101) contacting the piece of debris; and Fig. 1OF is a schematic view of the track assembly with drive guard shown in Fig.
10D reacting to the piece of debris.
DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS
Fig. 1 illustrates a drive guard 10, as found in the prior art, installed on a track assembly 20. The track assembly 20 generally comprises a plurality of sprockets (not shown) suspended on axles 22 and treads or tracks 24 which are wrapped around the sprockets, typically forming a continuous loop 26. The continuous loop 26 defines an interior perimeter, within which are the sprockets and outside of which is the drive surface of the continuous loop 26. The drive guard 10 is attached to the track assembly 20 via any suitable means, and in the prior art shown, is attached through bolts 28 going through the drive guard 10. In the prior art shown, the drive guard 10 substantially covers the entire inner area of the continuous loop 26, except for a small, consistent space left in between the drive guard 10 and the treads 24. The drive guard 10 is a substantially solid plate, with the only apertures appearing in the drive guard 10 being for the bolts 28 and the attachment points of the axles 22 to the drive guard 10.
Drive guard Fig. 2 illustrates a typical motive track assembly 100 to which the drive guard 110 of Fig.
3 could be applied. Track assembly 100 is a typical track assembly as can be found in the prior art. Track assembly 100 has a plurality of sprockets 102 suspended on axles 104.
Tracks 124 are wrapped around the plurality of sprockets 102 thereby forming a continuous loop 126. The drive guard 110 of Fig. 3 could be applied to the track assembly 100 of Fig. 2. The drive guard or what is often referred to as a "side-skirt" 110 has an exterior face 114, a interior face 116, and a peripheral edge 118. The interior face 116 of the drive guard 112 substantially covers the area within the continuous loop 126, and could also cover the plurality of sprockets 102 of the corresponding motive track assembly 100. The peripheral edge 118 effectively an approximately equates to the interior perimeter of the continuous loop in respect of which it will be installed. The peripheral edge 118 defines at least one grip-enhancing recess 130 extending inwardly between at least two adjacent of the sprockets 102 of the motive tack assembly 100.
Typically, the most grip-enhancing recessed point of the grip-enhancing recess 130 will extend to a point within the continuous loop 126, or in other words, it will extend past the track line.
The drive guard 110 could be made out of any durable material such as a hardened steel plate, though one skilled in the art would understand that any durable materials could be used to make the drive guard 110. In one embodiment, the drive guard 110 is made out of aluminum.
In one embodiment, the drive guard 112 has at least one interior aperture 140 which can further reduce the weight of the drive guard 110. The reduction in weight of the drive guard 110 can result from any grip-enhancing recesses 130 in the periphery 118 or internal apertures 140. Such grip-enhancing recesses 130 and apertures 140 can reduce the amount of material required to manufacture the drive guard 110, potentially making the drive guard 110 significantly lighter than might otherwise be the case.
Given that a tank or tracked vehicle will oftentimes have two or more track assemblies 100 each requiring drive guards 110, this can result in a significant reduction in vehicle weight.
The lower vehicle weight can allow a corresponding vehicle or robot to move with less horsepower, and can also allow the tracked vehicle to move at a quicker speed with increased maneuverability.
In one embodiment, the peripheral edge 118 of the drive guard 110 defines at least one forward-leaning climbing face 142. It is contemplated that the forward-leaning climbing face can appear at a front end of the drive guard 110, or the rear end of the drive guard 110, or both. The climbing face 142 can provide a sufficient angle upward to allow a corresponding track assembly 100 having a similar angle to grip an obstacle it encounters, with the increased weight of the climbing face 142 at the top of the track assembly 100 and guard 110 allowing the vehicle to pull its weight over the obstacle. In the embodiment of Fig. 3, at least one of the at least one grip-enhancing recess 130 is defined in the climbing face 142. A grip-enhancing recess 130 in the climbing face 142 can allow the track 124 to further grip an obstacle it encounters by allowing the track 124 to flex inwardly into the grip-enhancing recess 130 provided by the drive guard 110. As the track 124 flexes inwardly in response to the obstacle, its traction can increase as it conforms slightly in shape to the obstacle, potentially allowing for easier mounting of the obstacle.
The drive guard 110 can thus have a reduced weight due to the at least one grip-enhancing recess 130 and interior aperture 140, which can allow for an increased ability to negotiate obstacles and reduced weight of a motive track assembly which employs the drive guard 110.
Motive Track Assembly with Drive guard Figs. 4 and 5 depict a motive track assembly 200 which employs a drive guard 210 in an embodiment of the present invention. The track assembly 200 has an internal guard system provided at least in part by the drive guard 210, which is similar in functionality and structure to the drive guard 110 of Fig. 3. It will be noted that a track assembly could have any number of drive guards, dependent upon the number of track assemblies and the degree of armoury protection required. In the embodiment of Figs. 4 and 5, four drive guards 210 are provided. Two track assemblies 200 are present, each using two drive guards 210 with one drive guard 210 on each of the inner and outer faces of the track assemblies 200. It is contemplated, however, that in some embodiments, one drive guard may be sufficient and in other embodiments two or more drive guards may be required.
The drive guard 210 could be mounted onto the track assembly 200 through the use of any conventional means, including bolts or through a welding process.
The track assembly 200 is similar to the track assembly 100 of Fig. 2 in functionality and structure. The track assembly 200 has a plurality of sprockets 202 suspended on axles 204. A continuous track 224 forms a continuous loop 226 around the plurality of sprockets 202. The drive guard 210 is similar in functionality and structure to the drive guard 110 of Fig. 3 and has a drive guard 212 which substantially covers the area defined by the continuous loop 226, and in the embodiment shown, also covers the plurality of sprockets 202 of the track assembly 200. A peripheral edge 218 defines at least one grip-enhancing recess 230 extending inwardly between at least two adjacent of the sprockets 202, the most grip-enhancing recessed portion of which extends into the continuous loop 226 defined by the continuous track 224. It is contemplated that a plurality of grip-enhancing recesses 230 could possibly extend inwardly between two adjacent given sprockets 230. For example, in the embodiment shown in Fig.4, two grip-enhancing recesses 230 extend inwardly on the bottom edge of the peripheral edge 218 between the sprocket 202 at the forward end of the assembly 200 and the sprocket 202 at the rear end of the assembly 200.
With regard to the track assembly 200, the sprockets 202 can be any conventional sprockets known in the art. Typically the sprockets 202 will have a centrally-located bore for receiving the axle 204 and a plurality of circumferentially-spaced teeth extending from their periphery for engaging the track 224. Typically, there is at least one drive sprocket 202 which can be driven by a motor (not shown), and while engaging perforations or indentations in the track 224, will drive the track 224 forward or backward. The track 224 could be any flexible track having a plurality of indentations or perforations that can mate with the teeth of the at least one sprocket 202. It is contemplated that the track 224 and at least one sprocket 202 can be made out of any material having a relatively high strength, hardness, and abrasion resistance, included high strength plastic or metals. In the embodiment shown in Fig. 5, the track 224 is made out of a plurality of links 252 joined together by, and pivotable about, a series of hinges 254. However, it is contemplated that the track assembly could be any conventional track assembly which creates a continuous loop with the use of a flexible track. For example, the track assembly could comprise a Kegresse track, which is basically a flexible mat propelled forward or backward.
In the embodiment of Figs. 4 and 5, the track 224 is sufficiently flexible to allow the track 224 to wrap around a set of sprockets 202 to form a continuous loop 218.
In some embodiments, the tracks 224 have articulation, meaning that they can flex to meet the contours of obstacles and the ground when it comes into contact with the same.
The track 224 can also be sufficiently pliable with enough slack to allow the track 224 to flex inwardly of the continuous loop 226 somewhat when contacting or engaging an obstacle (not shown). In general, tracks and treads provide relatively good traction on the surfaces on which they are moving and they are also generally able to provide good gripping forces on obstacles before them. In the embodiment of Figs. 4 and 5, cleats or rubber mats 260 on the outer surface of the tracks 224 are provided in order to provide more traction. The tread material will typically be a durable material and will have a configuration which provides gripping ability, such as the paddled configuration shown in Fig. 4. In some embodiments, the tracks 224 will have outer tread material that is made out of a pliable rubber material which is good for gripping.
There is often an angled front "climbing face" 242 for the track 224 which allows the tracks 224 more leverage to overcome obstacles. This means that the foremost or rearmost part of the track 224 is often high off the ground in order to climb obstacles. In the embodiment shown, at least one of the at least one grip-enhancing recess 230, or in this case a "climbing grip-enhancing recess" 230, extends inwardly from the periphery 218 between sprockets 202 forming an angled climbing face 242 for the track 214. The sprockets 202 form the climbing face 242 through the suspension of a sprocket 202 above ground of the exterior face 242 of the track system 200 and a sprocket 202 suspended below the first sprocket 202. The most grip-enhancing recessed point of the climbing grip-enhancing recess 230 extends past the track line or otherwise within the continuous loop 226, which can allow the track 224 to flex inwardly when the track 224 encounters an obstacle. The climbing grip-enhancing recess 230 in this way can accommodate the inwardly flexed portion of the track 224, allowing the track 224 to better conform to the obstacle and thus can provide a greater surface area for traction between the obstacle and the track 224. This added traction may aid the vehicle or robot employing the track assembly 200 in climbing over the obstacle. In some embodiments, the obstacle is a step, and in other embodiments the obstacle could be a set of stairs. It is anticipated, however, that many types of obstacles might be encountered by the track assembly 200, including stones, tree branches, and other debris.
While the embodiment shown in Fig. 4 shows only one angled climbing face 242, it is anticipated that a track assembly may have a plurality of climbing faces. For example, in the embodiment shown in Fig. 6, a track assembly 300 has a track 324 which is rhomboid in shape allowing it to have two climbing faces: a forward climbing face 342 for obstacles encountered at a forward end of the assembly 300, and a rear climbing face 344 for obstacles encountered at a rear end of the assembly 300. A drive guard 310 can generally correspond in shape to the shape of the continuous loop 326 created by the track 324, with at least one grip-enhancing recess 330 extending inwardly between at least two adjacent sprockets 302. It is contemplated, however, that many other shapes of drive guards are possible which correspond to the shape of the continuous loop created by the placement of the tracks and sprockets and which can sometimes be dependent on the number of climbing faces required.
In reference again to Figs. 4 and 5, it will be noted that if the proper amount of tension is not maintained on the track 224, the track 224 can slip off of the sprockets 202, causing track derailment. In this regard, it is contemplated that an idler (not shown) may be present to tension the track 224 and prevent the track 224 from slipping off of the sprockets 202. The idler would typically be placed higher than the bogies in order to allow the assembly 200 to climb over obstacles. The idler could be properly tensioned on the tracks 224 in order to keep the tracks 224 rolling without loss of drive and without too much rolling resistance, while at the same time allowing some slack in the tracks 224 to allow the tracks 224 to flex inwardly when encountering an obstacle.
Fig. 7 shows that in addition, or alternatively, to an idler, a drive guard 410 could double as a guide plate for the drive sprocket or idler sprockets 402 to hold the track 424 in place by abutting the outside edge of the track 424 as it is wrapped around the sprockets 402.
The drive guard 410 can be similar to the drive guard 210 of Figs. 4 and 5, and the assembly 400 would work in much the same way as the assembly 200. However, the periphery 418 of the drive guard 410 can extend to the boundary of the continuous loop 426, and in the embodiment shown, extends beyond the continuous loop 426 or past the continuous loop 426 to keep the track 424 centered on the sprockets 402. In this way, derailment of the track 424 off of the sprockets 402 can be limited by the presence of the drive guard 410.
Drive guards 110, 210, 310, 410 can help keep rocks, tree limbs, and other non-extrudable material from entering the roller areas of the track assemblies 100, 200, 300, 400 and can furthermore provide armour protection against enemy fire or the like.
Indentations or grip-enhancing recesses 130, 230, 330 around the periphery 118, 218, 318, 418 can allow for easier movement over rough terrain and the surmounting of obstacles. The drive guards 110, 210, 310, 410 and track assemblies with internal guard systems 100, 200, 300, 400 disclosed above can be used with any motive-tracked vehicle, including tanks and robots, which could convey some of the above-mentioned benefits onto the motive-tracked vehicle.
Motive-Tracked Vehicle with Drive guard A drive guard in accordance with the present disclosure could be used in a number of platforms, including motive-tracked vehicles such as tanks or robots. In an embodiment, the drive guard is used with a robot conveyor belt for a motive-tracked robot.
Typically, such tracked vehicles will include a vehicular platform carried by a corresponding track assembly such as the one described above in Figs. 4 to 7. In the embodiment shown in Figs. 8 and 9, the platform is a bomb disposal robot 500. The bomb disposal robot 500 has a track assembly 525 similar to the track assemblies described above in reference to Figs. 4 to 7, and a vehicular platform 570 attached to and which can be carried by the track assembly 525. The vehicular platform 570 can have bomb disposal equipment which could be used to disarm or safely detonate dangerous explosives, or to otherwise dispose of a suspicious object using mechanical arms or the like. For example, the robot 500 could use a robotic arm to transport a suspicious object to a special container for detonation.
It is contemplated that while two track assemblies 525 are shown carrying the vehicular platform 570 in the embodiment of Figs.8 and 9, that one or more track assemblies could be used to carry a single vehicular platform, depending on the size and weight of the vehicular platform and the purpose of the vehicle.
The tracked-vehicle 500 can have enhanced climbing ability and obstacle negotiation due in part to the presence of its drive guard 510. The tracked vehicle or robot 500 with the drive guard 510 can have enhanced ability to handle steep slopes, rocky terrain, and obstacles, and can act as a physical guard to aid in reducing the amount of mud, ice, and other debris collecting between overlapping areas of the drive guard 510 and sprockets 502, which could otherwise immobilize the vehicle 500. Since generally treads or tracks can generally grip the surface over which it is travelling, a robot or vehicle with treads can more easily climb obstacles or traverse crevasses where ordinary wheels might get stuck. Drive guards, however, oftentimes can get in the way of tracks or treads gripping surfaces. Thus, in an embodiment, the grip-enhancing recesses 530 of the drive guard 510 can allow the tracks or treads 524 to flex inwardly when the tracks 524 come into contact with an obstacle. This can provide an increased surface area between the tracks or treads 524 and the obstacle, thus providing more traction for moving the vehicle or robot 500 up an incline or over the obstacle.
Figs. 10A to 1OF schematically show a motive-tracked vehicle with a drive guard 610 in accordance with an embodiment of the present invention in operation. Figs. I0A
to 10C
schematically show a motive-tracked vehicle 600 approaching an obstacle 605 at a forward climbing face 642, while Figs. I OD to l OF schematically show the vehicle 600 approaching an obstacle 607 on the ground.
In Fig. 10A, the vehicle 600 is approaching an obstacle 605 which it must surmount. The drive guard 610 has at least one point of grip-enhancing recess 630, in this case in the front climbing face 642. The most grip-enhancing recessed point of the climbing grip-enhancing recess 630 extends past the track line or otherwise extends within the continuous loop 626. In Fig. 10B, the tracks 624 in the area of the front climbing face 642 contacts the obstacle 605. Fig. 10C shows that as the vehicle 600 moves closer to the obstacle 605, the track 624 flexes inwardly. The climbing grip-enhancing recess 630 of the drive guard 610 in this way can accommodate the inwardly flexed portion of the track 624, allowing the track 624 to better conform to the obstacle 605 and thus can provide a greater surface area for traction between the obstacle 605 and the track 624.
This added traction between the obstacle 605 and the front climbing face 642 may aid the vehicle or robot 600 in climbing over the obstacle 605.
In Fig. 10D, the vehicle 600 is approaching an obstacle 607 which is adjacent the ground and which the vehicle 600 must get past. The drive guard 610 has at least one point of grip-enhancing recess 630, in this case at the bottom of the drive guard 610 near the bottom length of the tracks 624. The most grip-enhancing recessed point of the climbing grip-enhancing recess 630 extends past the track line or otherwise extends within the continuous loop 626. In Fig. 10E, the tracks 624 near the bottom of the drive guard 610 contact the obstacle 607. Fig. 1OF shows that as the vehicle 600 moves over the obstacle 607, the track 624 flexes inwardly. The climbing grip-enhancing recess 630 of the drive guard 610 in this way can accommodate the inwardly flexed portion of the track 624, allowing the track 624 to better conform to the obstacle 607 and thus can provide a greater surface area for traction between the obstacle 607 and the track 624.
This added traction may aid the vehicle or robot 600 in climbing over the obstacle 607.
This can also prevent damage to the drive guard 610 in the event that the obstacle 607 is a hard piece of debris such as a rock and can also prevent the obstacle 607 from getting lodged into the area between the tracks 624 and the drive guard 610.
Thus, the drive guard 610 can allow the robot or tracked vehicle 600 to explore much more demanding terrain than might otherwise be possible. The tracks 624 and drive guard 610 can aid in gliding over small obstacles or surmounting larger obstacles, thus potentially allowing the vehicles 600 and robot tracks to traverse tough terrain and climb over obstacles. The drive guard 610 can furthermore reduce the weight of the vehicle 600 as compared to traditional drive guards, allowing the vehicle 600 to move with greater speed and less horsepower.
. . _ The foregoing is considered as illustrative only of the principles of the invention.
Further, since numerous changes and modifications will readily occur to those skilled in the art, it is not desired to limit the invention to the exact construction and operation shown and described, and accordingly, all such suitable changes or modifications in structure or operation which may be resorted to are intended to fall within the scope of the claimed invention.