| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 1 | 具有连续履带的蛇形机器人履带车 | CN200880102915.6 | 2008-07-10 | CN101778756B | 2013-01-23 | S·C·雅各布森; R·W·彭泽; M·奥利维尔; F·M·史密斯 |
| 一种蛇形机器人履带车(10)，包括铰接体部(12)和连续履带(18)，该铰接体部(12)具有至少两个串联连接的体部分段，连续履带(18)沿铰接体部(12)的周面可操作地支承。蛇形机器人履带车(10)能够具有多种运动方式和姿势。 | ||||||
| 2 | 具有连续履带的蛇形机器人履带车 | CN200880102915.6 | 2008-07-10 | CN101778756A | 2010-07-14 | S·C·雅各布森; R·W·彭泽; M·奥利维尔; F·M·史密斯 |
| 一种蛇形机器人履带车(10)，包括铰接体部(12)和连续履带(18)，该铰接体部(12)具有至少两个串联连接的体部分段，连续履带(18)沿铰接体部(12)的周面可操作地支承。蛇形机器人履带车(10)能够具有多种运动方式和姿势。 | ||||||
| 3 | SERPENTINE ROBOTIC CRAWLER HAVING A CONTINOUS TRACK | EP08826145.8 | 2008-07-10 | EP2178737A1 | 2010-04-28 | JACOBSEN, Stephen, C.; PENSEL, Ralph, W.; OLIVIER, Marc; SMITH, Fraser, M. |
| A serpentine robotic crawler (10) includes an articulated body (12) having at least two body segments serially connected and a continuous track (18) operably supported along a perimeter of the articulated body (12). The serpentine robotic crawler (10) is capable of a variety of movement modes and poses. | ||||||
| 4 | A METHOD AND A SUPPORT ARRANGEMENT IN A ROLLER VEHICLE TO BE STEERED BY A ROLLER MAT | EP88907033.0 | 1988-07-08 | EP0375704A1 | 1990-07-04 | LAAKSO, Timo |
| Procédé et agencement de support pour diriger un véhicule à galets au moyen d'un tapis à galets, lequel véhicule comporte une partie carrosserie sensiblement rigide (1) supportant le bâti et le moteur (2) avec ses moyens de transmission (3) pour transmettre la puissance au tapis à galets (4) rotatif au moins partiellement pour prendre une forme incurvée, un côté dudit tapis se raccourcissant et l'autre s'allongeant d'autant. Lorsque ledit tapis (4) est mis en rotation pour prendre une forme incurvée, le véhicule s'incline et son centre de gravité est transféré du côté de l'inclinaison par rapport à l'axe longitudinal du véhicule. L'agencement de support s'étend essentiellement sur toute la longueur de la partie carrosserie (1) à laquelle il est suspendu, et comprend une partie carrosserie auxiliaire (5) séparée, déformable, c'est-à-dire cintrable ou pliable, supportée sur l'agencement de support en deux points de l'axe médian du véhicule. L'ensemble galets-roues (6, 7) du tapis (4) est suspendu sur ladite partie carrosserie (5) de manière non transfèrable par rapport à cette dernière. Ladite partie carrosserie (5) est pourvue de moyens (8, 9) reliés aux dispositifs de direction du véhicule pour déformer la partie carrosserie auxiliaire (5) et ainsi diriger le véhicule. | ||||||
| 5 | JPH0328354B2 - | JP15934884 | 1984-07-31 | JPH0328354B2 | 1991-04-18 | SUZUKI RYOHEI; IWASE YOSHIMI |
| 6 | Crawler type vehicle | JP15934884 | 1984-07-31 | JPS6137582A | 1986-02-22 | SUZUKI RYOHEI; IWASE YOSHIMI |
| PURPOSE:To reduce frictional turning resistance in time of a pivot turn, by connecting a keeping device by means of a hydraulic cylinder in a crawler type vehicle to an outlet port of a shuttle valve between pipe lines connected to a hydraulic motor rotating a driving wheel via a selector valve. CONSTITUTION:When one side hydraulic motor 11R is driven and the other hydraulic motor 11L is stopped, pressure is produced in an outlet port of a shuttle valve 13R but this pressure is not produced in an outlet port of a shuttle valve 13L to that pressure oil in not fed to a hydraulic cylinder 7R which therefore comes into a state of being contracted. A directional control valve 14R comes to an (a) position, while driving pressure of the hydraulic motor 11R is fed to a chamber at the bottom side of a hydraulic cylinder 7L via the shuttle valve 13R, the directional control valve 14R, and this hydraulic cylinder 14L extends longer. Therefore, the central part of a crawler 6L comes into a state of being grounded and thereby a crawler 6R alone is driven, thus a pivot turn takes place. | ||||||
| 7 | JPS579988B2 - | JP1063374 | 1974-01-26 | JPS579988B2 | 1982-02-24 | |
| 8 | Meandering robot crawler having a continuous orbit | JP2010516245 | 2008-07-10 | JP2010533102A | 2010-10-21 | オリビエ，マーク; スミス，フレイザー・エム; ペンセル，ラルフ・ダブリュー; ヤコブセン，スティーヴン・シー |
| 蛇行ロボットクローラ（１０）は、直列に連結される少なくとも２つの本体セグメントを有する多関節体（１２）と、多関節体（１２）の外周に沿って動作可能に支持される連続軌道（１８）とを含む。 蛇行ロボットクローラ（１０）は、さまざまな移動態様および移動姿勢が可能である。 | ||||||
| 9 | JPH03501236A - | JP50656388 | 1988-07-08 | JPH03501236A | 1991-03-22 | |
| 10 | JPS5047328A - | JP1292274 | 1974-02-01 | JPS5047328A | 1975-04-26 | |
| 11 | Dynamically steerable mono belt apparatus | US09800109 | 2001-03-06 | US20010031680A1 | 2001-10-18 | Hagen Schempf; William A. Crowley; Robert A. Fuchs; Joshua N. Guyot; Edward C. Mutschler JR. |
| The present invention is a dynamically steerable mono belt apparatus and includes a first pivotable body element in communication with a second pivotable body element. A first pivot mechanism is attached to and positioned between the first pivotable body element and the second pivotable body element to allow the first pivotable body element to pivot in a first pivot plane of movement with respect to the second pivotable body element. The present invention also includes a continuous belt element formed as a loop and continuously rotatable in a first plane of rotation around the first pivotable body element, the first pivot mechanism and the second pivotable body element. The continuous belt element is flexible in the pivot plane of movement, such that when the first pivotable body element is pivoted, via the first pivot mechanism, in the pivot plane of movement, the continuous belt element is flexed. | ||||||
| 12 | Steering mechanism for endless track vehicles | US628773 | 1975-11-04 | US4046429A | 1977-09-06 | Jorma Toivo Tapani Pohjola |
| A vehicle which has a pair of end rolls and an endless track guided around the end rolls is provided at its endless track with a central substantially non-stretchable region cooperating with the endless track structure to render the latter substantially rigid at the ends of the track which extend around the end rolls to prevent any slipping of the track with respect to the end rolls particularly when at least one of the end rolls is swung about an upright axis to enable the vehicle to execute a turn. On opposite sides of its central endless region the endless track has a pair of opposed lateral regions capable of automatically expanding and contracting when the vehicle executes so that the inside lateral region contracts while the outside lateral region expands during a turn, and the manner of contraction and expansion of these lateral regions of the endless track is such that together with a curving of the central non-stretchable region the endless track assumes a smooth, substantially uniform curved configuration when the vehicle executes turns. | ||||||
| 13 | Structure for laterally bracing an endless track of a vehicle | US542844 | 1975-01-21 | US3973638A | 1976-08-10 | Jorma Toivo Tapani Pohjola |
| A structure for laterally bracing an endless track of a vehicle. The endless track has opposed sides one of which becomes shorter and the other of which becomes longer when the vehicle executes a turn, and the endless track has a longitudinal central portion situated between these opposed sides. A suitable guiding structure is carried in part by the body of the vehicle and in part by the endless track for guiding and laterally bracing the latter, with this guiding structure being situated only along the longitudinal central portion of the endless track so that the guiding of the endless track is applied at the longitudinal central portion thereof in order to laterally brace the endless track when the vehicle executes a turn. | ||||||
| 14 | Vehicle steering apparatus | US435750 | 1974-01-23 | US3938607A | 1976-02-17 | Jorma Toivo Tapani Pohjola |
| A vehicle steering apparatus for a vehicle which has an endless track guided around front and rear rolls. When executing turns substantially larger than the minimum radius of turning of the vehicle, at least the front roll together with the front end of the track are turned to provide for relatively large turns where the rate of turning at the front of the vehicle is greater than the rate of turning at the rear thereof. The front and rear rolls are supported for swivelling movement about substantially upright axes and in one construction of the invention a transmission is connected between the supports for the front and rear rolls to bring about turning of the rear roll and the rear end of the track therewith only after the front roll and the front end of the track therewith have turned through a given angle. | ||||||
| 15 | Steering, driving and single track support systems for vehicles | US3565198D | 1967-06-26 | US3565198A | 1971-02-23 | AMES VICTOR H |
| A track vehicle having low ground pressure characteristics through use of a single full width track in which the track is laterally bendable with respect to the longitudinal axis of the vehicle whereby the cleats of the track are disposed along the true path of the vehicle to minimize sideways movements of the track elements and consequent soil sheer forces to facilitate the making of vehicle turns. Distinctive linkage elements are incorporated to interconnect track support and drive elements of the vehicle for maintaining a relatively constant track length it the central axis of the track. Various track drive, steering and engaging elements are used to beneficially utilize the novel kinematic and operative features of the vehicle support, track and track driving elements of the disclosed combination. The invention includes a track made up of separate link or shoe elements that are formed for cooperative interaction to distribute localized ground reaction forces by bridging action irrespective of whether said shoe or cleat elements are in extended or contracted relationship.
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| 16 | Vehicle | US50299630 | 1930-12-17 | US1888420A | 1932-11-22 | BARNES GLADEON M |
| 17 | Endless track vehicle | US25345628 | 1928-02-10 | US1756770A | 1930-04-29 | VENZLAFF RICHARD R W; BUCK OTTO F |
| 18 | Tractor | US20564417 | 1917-12-05 | US1341428A | 1920-05-25 | CHARLES KNOTT |
| 19 | Steerable track system | US13504369 | 2010-10-27 | US09051009B2 | 2015-06-09 | James B. Prohaska |
| A steerable track system for steering a vehicle with a main frame and a track includes an undercarriage with pivoting links connected to the main frame; a bendable flexible track to provide a vehicle-surface interface for propelling the vehicle; a plurality of idler wheels which engage the track and are connected to the undercarriage; and a plurality of bogie wheels which engage the track and are connected to the undercarriage. | ||||||
| 20 | STEERABLE TRACK SYSTEM | US13504369 | 2010-10-27 | US20120212045A1 | 2012-08-23 | James B. Prohaska |
| A steerable track system for steering a vehicle with a main frame and a track includes an undercarriage with pivoting links connected to the main frame; a bendable flexible track to provide a vehicle-surface interface for propelling the vehicle; a plurality of idler wheels which engage the track and are connected to the undercarriage; and a plurality of bogie wheels which engage the track and are connected to the undercarriage. | ||||||
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