Note: Descriptions are shown in the official language in which they were submitted.
CA 02339444 2001-03-07
I)YNAMICALLY STEERABLE MONO BELT APPARATUS
BACKGROUND OF THE INVENTION
1. Field of the Invention.
The present invention relates generally to a continuous belt apparatus, and,
in
particular, to a dynamically steerable mono belt apparatus.
2. Description of the prior art.
In the field of continuous belt technology, there are many different
applications for such belts or treads, ranging from conveying systems through
vehicular or
locomotion systems. In the area of locomotion systems, typically two of such
singular tread
systems are used as the means for transporting the vehicle from one point to
another, for
example a military tank or a snowmobile. In all cases, two or more tread
systems are used for
both stability and steering. The use of these dual tread locomotion systems
vastly decreases
the steering and handling capability of the vehicle, due to their use of skid-
steering to change
direction, which causes large contact-patch friction, leading to power
inefficiencies and is the
root cause of treads being thrown.
Singular belt systems capable of taking turns are also used in the conveyor
and
materials handling industries. Typically, a simple chain with widened pins is
used to hold
snap-on slats that are either interleaving or overlapping, and provide for
flexibility while
being guided underneath, at. the center and at both edges. Some of these slats
may have ball
bearings to reduce rolling friction while loaded. However, typically these
conveyor systems
support and guide the conveyor at its edges, and more importantly, these
conveyors are
preshaped and immovable. Still further, these prior art conveyor systems use a
belt or tread
material that is made of separate, connectable sections.
SUMMARY OF THE INVENTION
It is, therefore, an object of the present invention to provide a dynamically
steerable mono belt apparatus that overcomes the deficiencies of the prior
art. It is another
object of the present invention to provide a dynamically steerable mono belt
apparatus with a
continuous and flexible belt that allows a user to "steer" the apparatus. It
is yet another object
of the present invention to provide a dynamically steerable tread apparatus
that is equally
useful in both the locomotive industry, as well as the materials handling
industry.
CA 02339444 2001-03-07
Accordingly, we have invented a dynamically steerable mono belt apparatus
which includes a first pivotable body element in communication with a second
pivotable
body element. Attached to and positioned between the first pivotable body
element and the
second pivotable body element is a first pivot mechanism. This first pivot
mechanism allows
the first pivotable body element to pivot in a first pivot plane of movement
with respect to the
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.
This continuous belt element is flexible in the pivot plane of movement.
In operation, 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.
When the continuous belt element is flexed, a second plane of rotation of the
continuous belt
element is created. In this manner, a user can "steer" the dynamically
steerable mono belt
apparatus.
The present invention, both as to its construction and its method of
operation,
together with additional objects and advantages thereof, will best be
understood from the
following description of specific embodiments when read in connection with the
accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is a perspective schematic view of a first embodiment of a dynamically
steerable mono belt apparatus according to the present invention;
Fig. 2 is a perspective schematic view of a second embodiment of a
dynamically steerable mono belt apparatus according to the present invention;
Fig. 3 is an exploded perspective view of the embodiment of Fig. 2 with
various attachments;
Fig. 4 is a perspective view of the embodiment of Fig. 2 with a paddle
attachment;
Figs. 5a-e are views of various continuous belt element designs according to
the present invention;
Fig. 6 is an exploded perspective view of various components of the
dynamically steerable mono belt apparatus according to the present invention;
Fig. 7 is a perspective view of the embodiment of Fig. 2 with a continuous
belt
element partially removed;
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CA 02339444 2001-03-07
Figs. 8a-c are perspective views of various continuous belt element designs
according to the present invention;
Figs. 9a-b are perspective views of a continuous belt element according to the
invention formed as a continuous surface-webbing elastomeric-based material;
Figs. lOa-c are top, perspective and edge views of the continuous belt element
of Fig. 9;
Fig. 11 is a detailed perspective view of a drive spine with a plurality of
engagement elements according to the invention;
Figs. 12a-b are perspective views of the embodiment of Fig. 2 with the
continuous belt element removed;
Fig. 13 is a perspective view of the embodiment of Fig. 2;
Fig. 14 is a perspective view of a guide spine according to the present
invention;
Fig. 15 is a perspective view of an embodiment of Fig. 2 with sliding-surface
body-bogies and with the continuous belt element removed;
Fig. 16a is a perspective view of a further embodiment according to the
present invention;
Fig. 16b is an exploded perspective view of the embodiment of Fig. 16a;
Fig. 17 are various perspective views of the embodiment of Fig. 2 with a
manually-activated steering mechanism and with the continuous belt element
removed;
Figs. 18a-d are perspective schematic representations of drive mechanism and
steering mechanism design alternatives;
Figs. 19a-d are various views of the steering mechanism, the drive mechanism,
frame and suspension and power source and transmission designs according to
the present
invention;
Fig. 20 is a perspective view of a shock absorbing mechanism according to the
present invention;
Figs. 21 a-b are perspective views of alternative steering mechanism designs
according to the present invention;
Fig. 22 is a perspective view of the embodiment of Fig. 2 according to the
present invention;
Fig. 23 is an exploded view of a control system according to the present
invention;
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CA 02339444 2001-03-07
Fig. 24 is a flow diagram of the control system of Fig. 23;
Fig. 25 is a perspective view of a stand-on tread concept according to the
present invention;
Fig. 26 is a perspective view of a vehicle concept according to the present
invention; and
Figs. 27a-c are perspective views of internal design and components of the
vehicle concept of Fig. 26.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
The present invention is a dynamically steerable mono belt apparatus 10, as
shown in Figs. 1-27. A first embodiment of the present invention, shown in
Fig. 1, includes a
first pivotable body element 12 in communication with a second pivotable body
element 14.
Positioned between and attached to both the first pivotable body element 12
and the second
pivotable body element 14 is a first pivot mechanism 16. This first pivot
mechanism 16
allows the first pivotable body element 12 to pivot in a first pivot plane of
movement,
represented by arrows Y and Z, with respect to the second pivotable body
element 14. The
pivot mechanism 16 may include a single pivot pin defining a single pivot axis
such as best
shown in Fig. 16b or multiple pivot pins about distinct pivot axes, or a
universal type joint
between the first pivotable body element 12 and the second pivotable body
element 14. A
variety of specific pivoting type mechanisms may be used. A continuous belt
element 18,
which is formed as a loop, is continuously rotatable in a first plane of
rotation described by
arrows X and Y. The continuous belt element 18 rotates around the first
pivotable body
element 12, the first pivot mechanism 16 and the second pivotable body element
14. In
addition, the continuous belt element 18 is flexible in the pivot plane of
movement YZ
(perpendicular to the plane of rotation XY).
When the first pivot mechanism 16 is activated, it pivots the first pivotable
body element 12 in the pivot plane of movement YZ (left and right movement).
When the
first pivotable body element 12 is pivoted in the YZ plane, the continuous
belt element 18 is
flexed, and the first pivotable body element 12, together with the continuous
belt element 18,
is now extending into a second distinct plane of rotation XY, thereby allowing
the apparatus
10 to be steered or turned.
The dynamically steerable mono belt apparatus 10 can also pivot in a pivot
plane of movement which is parallel (upward and downward movement) to either
the first
plane of rotation or the second plane of rotation as described above. In this
manner, the first
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CA 02339444 2004-10-05
pivot mechanism 16 may allow the first pivotable body element 12 to be pivoted
in a
pivot plane of movement that is either perpendicular or parallel to the plane
of rotation
XY providing a full range of movement options. Simply, the dynamically
steerable mono
belt apparatus 10 has the ability to pivot the first pivotable body element 12
left, right, up
and down with respect to the first plane of rotation XY and any subsequent
plane of
rotation.
One important aspect of the present invention is the ability of the continuous
belt
element to be dynamically flexible allowing it to be configured at will in the
aforementioned ways or directions, yet capturable, in order to configure
itself into and
retain any number of shapes, which will generate curves in the continuous belt
element
18. To further enhance the steerable ability of the dynamically steerable mono
belt
apparatus 10, multiple pivot points are envisioned.
As seen in Figs. 2 and 3, a second embodiment according to the present
invention
adds a third pivotable body element 20. Further, the second embodiment
includes a
second pivot mechanism 22 attached to and positioned between the second
pivotable
body element 14 and the third pivotable body element 20. The second pivot
mechanism
22 allows the third pivotable body element 20 to pivot in a second pivot plane
of
movement, with respect to the second pivotable body element 14. As discussed
in
connection with the first embodiment, in the second embodiment, the continuous
belt
element 18 is continuously rotatable in a first plane of rotation XY around
the first
pivotable body element 12, the second pivotable body element 14 and the third
pivotable
body element 20, as well as both the first pivot mechanism 16 and the second
pivot
mechanism 22. As before, this continuous belt element 18 is flexible in the
second pivot
plane of movement. As with the first pivot mechanism 16, the second pivot
mechanism
22 may allow the third pivotable body element 20 to be pivoted in a pivot
plane of
movement that is either perpendicular or parallel to the plane of rotation XY.
The first pivotable body element 12 and the third pivotable body element 20,
while possibly being controlled by, e.g., mechanical linkage or electrical
synchronization,
a single control unit, are independent of each other. This allows the present
invention to
take on shapes that other vehicles cannot. For example, the present invention
can have
the first pivotable body element 12 steer left or right and/or up and down,
while the third
pivotable body element 20 stays straight, or vice versa.
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CA 02339444 2007-06-04
The planar movements of the apparatus 10 of the present invention
demonstrate that the first pivotable body element 12 could steer one
direction, while
others, such as the third pivotable body element 20, steer in opposite
directions, which
would allow the apparatus 10 to assume an essentially curved shape. The
apparatus 10
can also force the third pivotable element 20 to steer in the same direction,
making the
apparatus 10 appear in an S-shape. There are endless permutations that the
apparatus 10
of the present invention can attain that prior art devices cannot. It is this
independent
pivoting functionality that allows the apparatus 10 of the present invention
to attain new
and novel shapes, variations and accompanying functionality. An example of
this novel
functionality is illustrated in Figs. 5a, 25 and 27b.
In adding the third pivotable body element 20 and the second pivot mechanism
22,
the dynamically steerable mono belt apparatus 10 of the present invention has
even
greater flexibility and range of movement, whether used in the materials
handling
industry or the vehicle industry.
It is important in both embodiments that the continuous belt element 18 be
able to
rotate around the pivotable body elements 12, 14 and/or 20 with nominal
friction while
retaining its given shape. The pivotable body elements 12, 14 and/or 20 remain
oriented
in series while the continuous belt element 18 rotates around them, thereby
moving
25
5a
CA 02339444 2001-03-07
the apparatus 10 in the plane of rotation XY. As discussed above, the plane of
rotation XY
may be changed to steer the apparatus 10.
A drive mechanism may be attached to or integral with any of the pivotable
body elements 12, 14 or 20. The drive mechanism 24 drives the continuous belt
element 18,
as well as the first pivot mechanism 16 and/or the second pivot mechanism 22.
The drive
mechanism 24 is powered by a power source, such as a combustible fuel engine,
a
rechargeable battery, a primary battery, a solar cell and/or a chemical
reaction engine.
In order to allow the continuous belt element 18 to rotate around the
pivotable
body elements 12, 14 and/or 20, yet remain captured, so as not to become
displaced but rather
to retain the optimal shape for steering or lifting, a rotation system 26 is
utilized. The
rotation system 26 is used to rotatably secure the continuous belt element 18
to the pivotable
body elements 12, 14 and/or 20.
The rotation system 26 includes; a first pivotable body element engaging
mechanism 28 attached to the first pivotable body element 12, which is
rotatable in the first
plane of rotation XY, and a second pivotable body element engaging mechanism
30 attached
to the second pivotable body element 14, also rotatable in the first plane of
rotation XY. In
addition, either one of first pivotable body element engaging mechanism 28 and
the second
pivotable body element engaging mechanism 30 can be a single or set of guide
spines 32
attached to the respective first pivotable body element 12 or the second
pivotable body
element 14. When using the third pivotable body element 20, a third pivotable
body element
engaging mechanism 36 may be utilized. In this situation, it is the second
pivotable body
element engaging mechanism 30 that comprises the at least one guide spine 32.
The
pivotable body element engaging mechanisms 28, 30 and 36, and the guide spine
32, are all
equipped to capture and hold the continuous shape of belt element 18.
A drive spine 38 may be attached to and extend from an inner surface of the
continuous belt element 18. The drive spine 38 can have multiple engagement
elements 40
attached to and extending away from the drive spine 38, e.g., pins, timing
belt teeth, etc.
These engagement elements 40 are engageable with the pivotable body element
engaging
mechanisms 28, 30 and/or 36, as well as with the guide spine 32, shown in Fig.
16b. In order
to engage the engagement elements 40, the guide spine 32 may have guide spine
slots 34
extending internally and longitudinally within the guide spine 32. The drive
spine 38 may
also be integrally formed with the continuous belt element 18.
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CA 02339444 2001-03-07
In operation, when the continuous belt element 18 with the drive spine 38 is
placed around the pivotable body elements 12, 14 and/or 20, the engagement
elements 40 of
the drive spine 38 engage the pivotable body element engaging mechanisms 28,
30 and/or 36
and the guide spine slots 34. This engagement serves to capture the continuous
belt element
18 to the pivotable body elements 12, 14 and/or 20, yet still allow rotation
around these
elements. When the continuous belt element 18 is rotated in the first plane of
rotation XY,
the engagement elements 40 of the drive spine 38 are engaged by the pivotable
body element
engaging mechanisms 28, 30 and/or 36 thereby continuously rotating the
continuous belt
element 18 in the first plane of rotation XY. When the first pivot mechanism
16 or second
pivot mechanism 22 is pivoted in the first pivot plane of movement or the
second pivot plane
of movement, the engagement elements 40 of the drive spine 38 are engaged and
the
continuous belt element 18 is flexed, thereby creating subsequent planes of
rotation of the
continuous belt element 18. When using the third pivotable body element 20,
the second
pivotable body element engaging mechanism 30 may comprise the guide spine 32.
The drive spine 38 is a single circumferential element placed centrally and
extending around the continuous belt element 18, and may be placed in any
number of
locations on the continuous belt element 18. The drive spine 38 may be a chain-
link, or a
shaped internal-tooth timing-belt or a continuous elastomeric element, with
embedded
strength wire or rope. When powered, the pivotable body element engagement
mechanisms
28, 30 and/or 36 impart motion to the drive spine 38, which is attached to the
continuous belt
element 18. Next, the continuous belt element 18 moves with respect to a
surface, causing
motion in the presence of friction. It is envisioned that the engaging
elements 40 can be a set
of protruding pins in a regularly-spaced pattern of protruding timing-belt
teeth along the drive
spine 38, and that the pivotable body element engaging mechanisms 28, 30
and/or 36 are
each a set of dual sprockets, which engage the pins and/or the timing-belt
teeth, thereby
advancing the drive spine 38. Similar effects could be generated by using
toothed pulleys or
other sprocket arrangements which would engage the drive spine 38 at its
timing-belt teeth
and impart motion thereto.
While the use of a guide spine 32 may be unnecessary in the first embodiment,
the guide spine 32 use is preferable in the second embodiment, where the third
pivotable
body element 20 and the second pivot mechanism 22 are included. As discussed
previously,
in the second embodiment, the second pivotable body element engaging mechanism
30 is
replaced by the guide spine 32, since the third pivotable body element 20 has
a third
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CA 02339444 2001-03-07
pivotable body element engaging mechanism 36. When using the guide spine 32,
it is
preferable to locate one mutually opposable set of guide spines 32 on one side
of the second
pivotable body element 14, and a second mutually opposable set of guide spines
32 on the
other side of the second pivotable body element 14. The use of multiple sets
of guide spines
32 will assist in capturing and maintaining the shape of the continuous belt
element 18. An
example of this use of multiple sets of guide spines 32 is seen in Fig. 3.
In order to allow lateral and longitudinal movement, the guide spine 32 may
be flexible, while still allowing the engagement elements 40 to move in a
continuous path
around the pivotable body element engaging mechanisms 28, 30 and/or 36 while
the first
pivot mechanism 16 and/or second pivot mechanism 22 are pivoted. However, when
this
flexible guide spine 32 is displaced, it must be capable of both longitudinal
and lateral
movement. In order to allow this movement, a guide spine longitudinal flex
slot 42 may be
attached to at least one of the pivotable body elements 12, 14 and/or 20. The
guide spine
longitudinal flex slot 42 is configured to accept one end of the guide spine
32 (or a
longitudinal guide element 43), such that, when the guide spine 32 is flexed,
the end of the
guide spine 32 (or longitudinal guide element 43) is longitudinally moveable
along the guide
spine longitudinal flex slot 42. Similarly, in order to allow lateral
movement, a lateral guide
element 44 is attached to the guide spine 32, preferably at a substantially
central location on
the guide spine 32. In addition, a guide spine lateral flex slot 46 is
attached to one of the
pivotable body elements 12, 14 and/or 20. The guide spine lateral flex slot 46
accepts the
lateral guide element 44 on the guide spine 32 such that, when the guide spine
32 is flexed,
the lateral guide element 44 is laterally moveable along the guide spine
lateral flex slot 46.
When multiple guide spines 32 are used, multiple guide spine longitudinal flex
slots 42 may
be used.
The ability to bend the guide spine 32, in order to cause the continuous belt
element 18 to take on a substantially curved shape, relies on the ability to
deform and
maintain the deformation of the guide spine 32, which, when attached to the
continuous belt
element 18, will cause the entire continuous belt element 18 to deform. This
action can be
implemented as discussed above or in any other number of ways. The important
aspect is to
ensure shape retention and minimize or avoid throwing the continuous belt
element 18
(defined as causing the engagement elements 40 to lose contact with the
engaging
mechanisms 28, 30 and/or 36, thereby causing the continuous belt element 18 to
stop
rotating). It is this key that led to the development of the above-discussed
flexible guide
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CA 02339444 2001-03-07
spine 32, which literally traps the drive spine 38, or any element attached to
it, in a
continuous geometric feature that disallows the drive spine 38 from assuming
any other shape
than the one imposed by the guide spine 32. Reducing the friction between the
guide spine
32 and the drive spine 38 (or any other contacting elements) using anti-
friction elements or
low-friction materials guarantees continuous travel and rotation of the drive
spine 38, without
the penalty of excessive power dissipation and material wear. In a preferred
embodiment, the
drive spine 38 is a plastic material embedded with a friction-reducing
material (such as
Teflon ), with the engagement elements (simple pins) embedded in the
reinforced
elastomeric drive spine 38. There are many ways to achieve this behavior.
The guide spine 32, and the material of construction of the guide spine 32,
together with its interaction with the drive spine 38, will allow the shaping
of the continuous
belt element 18 in the horizontal plane, thereby allowing left and right
motions of the
dynamically steerable mono belt apparatus 10. However, this guide spine
32/drive spine 38
interaction also allows the continuous belt element 18 to securely move it in
upward and
downward directions, without losing its ability to shape and retain the
continuous belt
element 18. Since the drive spine 38, and its connected continuous belt
element 18, are fully
captured by the guide spine 32, the need to provide proper continuous belt
element 18 tension
is obviated, allowing one to simply mount and dimensionally place the
continuous belt
element 18 with a fixed length dimension, without lowering drive efficiencies
due to
preloading. Further, the continuous belt element 18 travels over the rounded
pivotable body
elements 12, 14 and/or 20 without any lateral or vertical deformation, such
that the drive
spine 38 is trapped by the guide spine 32, further reducing the possibility of
throwing the
continuous belt element 18.
The dynamically steerable mono belt apparatus 10 may also include a control
system 48 located within any one of the pivotable body elements 12, 14 and/or
20. A control
system 48 controls the functioning of the dynamically steerable mono belt
apparatus 10 in
response to externally- or internally-generated commands. In addition, the
control system 48
may control the speed, heading and all other possible functions occurring
aboard the
dynamically steerable mono belt apparatus 10 and may be implemented by way of
an on- or
off-board computer or other tethered or wireless interface. For example, the
control system
48 may allow for a user to communicate with the control system 48, thereby
manually
controlling the drive and steering and other functions of the dynamically
steerable mono belt
apparatus 10. In this manner, remote control or even autonomous control is
envisioned.
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In order to increase the functionality of the dynamically steerable mono belt
apparatus 10, a steering mechanism 50 may be provided, such that the steering
mechanism 50
communicates with the first pivot mechanism 16 and/or the second pivot
mechanism 22.
Either manually or using the control system 48, a user utilizes the steering
mechanism 50 to
pivot the first pivot mechanism 16 and/or the second pivot mechanism 22 along
the first or
second pivot plane of movement or any subsequent plane of rotation. In
operation, the
change in heading of the dynamically steerable mono belt apparatus 10 occurs
when the
guide spine 32 is reshaped through the application of torque or other force.
This bending
may be accomplished by bending both ends of the guide spine 32 (holding one
end steady
and bending the other end of the guide spine 32) or applying a force centrally
while fixing
both ends of the guide spine 32. The guide spine 32 may be bent by the
application and
transferring of torque through the guide spine longitudinal flex slot 42 and
the guide spine
lateral flex slot 46. This torque may be created by the drive mechanism 24 or
applied through
force amplification from a human motion (arm or leg). As discussed previously,
in a
preferred embodiment, the guide spine 32 is provided with lateral movement via
the lateral
guide element 44/guide spine lateral flex slot 46 combination. Additionally,
the guide spine
32 is provided with longitudinal movement via the longitudinal guide element
43/guide spine
longitudinal flex slot 42 combination. Both the guide spine longitudinal flex
slot 42 and the
guide spine lateral flex slot 46 may be constructed as dovetail grooves, with
the ends of the
guide spine 32 (or the longitudinal guide element 43) and the lateral guide
element 44
manufactured as a dovetail. As stated above, the guide spine 32 may, in
certain
embodiments, be flexible to provide for a full range of motion. The supporting
structure, of
course, must be designed to accommodate the expected motion.
As seen in Figs. 5a-d, the continuous belt element 18 may include gripping
elements 52 attached to and extending away from an outer surface of the
continuous belt
element 18, creating a tread-like structure. The gripping elements 52 provide
traction
between the continuous belt element 18 and the surface upon which it rides, if
used in such an
application. These gripping elements 52 allow the dynamically steerable mono
belt apparatus
10 to be an all-terrain vehicle.
As an important feature of the present invention is the flexible continuous
belt
element 18, many different arrangements are envisioned to achieve this
flexible, yet
continuous, belt element 18. In a preferred embodiment the continuous belt
element 18 is a
continuous surface-webbing elastomeric-based material, as seen in Figs. lOa-c.
In this
CA 02339444 2001-03-07
embodiment of the continuous belt element 18, the continuous surface-webbing
elastomeric-
based material is provided with flex ribbing 54 such that, when the continuous
belt element
18 is flexed, the flex ribbing 54 expands and compresses to allow the
continuous belt element
18 to bend (as shown in Fig. 9), but remain continuously flush to the surface
upon which it
rides. In this embodiment using the flex ribbing 54, these grouser-like
thickened ridges are
perpendicular to and evenly spaced along the length of the continuous belt
element 18,
connected into a seamless elastomeric continuous belt element 18 with thinner
flex ribbing 54
positioned therebetween. 'This allows the continuous belt element 18 to bend
in either
direction, while the flex ribbing 54 bridges the gaps between the ridges
evenly.
The continuous belt element 18 may also consist of multiple overlappable and
adjacent plates 56. Such that when the plates 56 are turned, a first portion
58 of each plate 56
slides into a first plate recess 60 of the preceding plate 56, and a second
portion 62 of each
plate 56 slides into a second plate recess 64 of the succeeding plate, thereby
allowing the
continuous belt element 18 to continuously contact the surface.
In another einbodiment of the continuous belt element 18, multiple gapped
plates 66 having at least two gapped portions 68, such that when the gapped
plates 66 are
turned, the gapped portion 68 of one plate 66 abuts the adjacent gapped plate
66, thereby
allowing the continuous belt element 18 to continuously contact the surface.
In order to
disallow material to enter the dynamically steerable mono belt apparatus 10
through the
gapped portions 68, these gapped portions 68 may be bridged by a compliant
material 70, so
that when the gapped plates 66 are turned, the compliant material 70 of a
gapped portion 68
collapses, still allowing the gapped portion 68 to abut the adjacent gapped
plate 66. The
range of movement of the compliant material 70 ensures continuous belt element
18 contact.
Further, the compliant material 70 may be a cloth material, an elastomeric
material, or any
other suitable material allowing compression and expansion.
The dynamically steerable mono belt apparatus 10 may also include a frame
72 surrounding and supporting the pivotable body elements 12, 14 and/or 20.
This frame 72
is useful to provide location and rigidity of the elements that make up the
dynamically
steerable mono belt apparatus 10. The franie 72 could be in the form of a
welded or bolted
tubular or plate structure, or in the form of a monocoque (whether cast in
plastic or formed
with fibrous resin-hardening material), where the housing or joined panel
sections of the body
create the rigid structure necessary.
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It is also envisioned that a shock absorbing mechanism 74 is included.
Suspension for the dynamically steerable mono belt apparatus 10 can be
achieved in several
ways. The pivotable body elements 12, 14 and/or 20 may be hinged and shock
mounted to
each other and/or to a frame 72 in a spring and dashpot arrangement. In
addition, the shock
absorbing mechanism 74 (note that this is primarily a low-friction element to
reduce body-to-
belt friction - it could also be a collection of wheeled rollers, like in a
tank) may be built into
the continuous belt element 18 or into a shock spring design. Such a shock
spring design will
use a low friction surface or a spring-loaded bogie arrangement on the
underside of the
pivotable body elements 12, 14 and/or 20, separating the pivotable body
elements 12, 14
and/or 20 froni the moving continuous belt element 18, which is in contact
with the ground.
The dynamically steerable mono belt apparatus 10 may also include support
ribs 76 attached to or integrally formed with the continuous belt element 18.
The support ribs
76 are used to strengthen the continuous belt element 18 along its
circumferential direction.
A platform 78 may also be attached to the pivotable body elements 12, 14
and/or 20 to allow an object to rest on the platform 78 above the continuous
belt element 18.
For example, the platform 78 may allow cameras, sensors, drop-off payloads, or
even humans
to be located on the platform 78 in a multitude of positions, turning the
dynamically steerable
mono belt apparatus 10 into a transportation medium for urban and off road
terrains.
The dynamically steerable mono belt apparatus 10 may also include a paddle
structure 80 attached to the pivotable body element 12, 14 and/or 20 that is
on the end of the
dynamically steerable mono belt apparatus 10. The paddle 80 should be adapted
to extend
away from and in front of the dynamically steerable mono belt apparatus 10,
allowing it to
ram the paddle 80 onto a step and climb it. If a set of passive or driven
belts are added to the
paddle 80, it could itself become a climbing-assistance device
The dynamically steerable mono belt apparatus 10 is equally viable in both the
vehicle, as well as the conveyor, industries. It is its ability to be
controlled so as to achieve
an almost infinite number of configurations in the left/right and up/down
directions, yet
maintain a continuous surface, that is a novel aspect of the present
invention. In the materials
handling industry, as opposed to using complicated ramping and prefabricated
turning
conveyor systems, the dynamically steerable mono belt apparatus 10 is both
highly useful and
adjustable. The apparatus 10 provides a dynamic adjustable conveyor.
Various other functioning equipment can be added to the dynamically
steerable mono belt apparatus 10 to increase its usefulness. For example,
encoders, resolvers,
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potentiometers, a compass, a global positioning system, gyro and
accelerometers and other
monitoring systems are envisioned. For example, a camera system 82 may use any
available
technology, such as a miniature black and white, color CCD or CMOS system. The
camera
system 82, and its various components, may be mounted so as to provide a view
around
and/or througli the continuous belt element 18, or by way of a deployable mass
that
incorporates a pan and tilt head to allow the user to move the camera system
82 to point in
any direction. The image captured by the camera system 82 can be sent directly
over an
analog RF-link to the operator, or frame-grabbed, digitized and digitally sent
over a radio-
modem/-ethernet to be digitally reconstructed off site.
The control system 48 can be configured in any one of numerous variations.
The control system 48 may be an on-board computer system that receives low-
and/or high-
level commands, causing the dynamically steerable mono belt apparatus 10 to
move. Further,
using autonomous control software receiving data from on- and off-board
sensory devices,
the control system 48 may implement many different intelligent behaviors,
making this
system more robust to operational conditions and independent of real-time
human control.
Fig. 17 is another embodiment of the present invention with multiple pivot
points. It is envisioned that the present invention is not limited to only one
or two pivot
mechanisms 16 and/or 22. As the embodiment of Fig. 17 demonstrates, the
dynamically
steerable mono belt apparatus 10 may have three distinct and separate pivot
points. Also, the
embodiment of Fig. 17 illustrates a rigid tie rod arrangement tied to a
steering mechanism 50
for use as the steering mechanism 50.
Figs. 18a-d illustrate multiple embodiments of a rear drive and steering
design
alternatives. For example, a conventional engine with a shaft drive, universal-
jointed splined
shaft or a twist belt or chain drive is envisioned. Further, a boxer engine
with a vertical shaft
may be utilized. Figs. 19a-d illustrate various embodiments directed to the
steering
mechanism 50, drive mechanism 24 arrangements and interrelationship.
Similarly, Fig. 20 is
another embodiment of the present invention illustrating a lower cost version
of a
parallelogram front suspension arrangement. Fig. 21a is a detailed view of the
steering
mechanism 50, wherein the steering mechanism 50 is a gear box and flex shaft
steering
arrangement. Similarly, Fig. 21b illustrates the steering mechanism 50 as a
gear box and tie
rod steering arrangement.
Fig. 23 shows one embodiment of the control system 48, including a battery
cover, a battery, side covers, a foam wall, a CPU-stack, a connector block, a
compass and tilt
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sensor, and various other interface electronics, and their physical
arrangement in the control
system 48. Fig. 24 illustrates the control system 48 and the interrelationship
of its various
components.
Another application of the dynamically steerable mono belt apparatus 10 is
shown in Fig. 25 as a stand-on skate. The skate is based on a scaled-down
version of the
basic dynamically steerable mono belt apparatus 10, utilizing a simple on/off
button to power
the skate, and even change the direction of motion. The skate system is
intended to be
analogous to a skateboard in terms of its motion and steering mode. The skate
is not intended
to compete with the skateboard, but rather to be an extended system to allow
off-road
locomotion. The operator stands on the platform 78, which is hinged to cause a
linked
rotation of the steering axes by virtue of the leaning weight of the operator.
Power is
provided by battery or intei-nal combustion engine or any other power plant.
The drive is
housed in one of the pivotable body elements 12, 14 and/or 20 and powers the
continuous
belt element 18. Instead of the simple cabled on/off and directional switch,
the system may
also be designed to have a handle and stick similar to a scooter to improve
the stability of the
operator. When used with a stationery stand-on platform 78, the steering
mechanism 50,
embodied as a steering bar, would cause the first pivot mechanism 16 and/or a
second pivot
mechanism 22 to pivot through a mechanical linkage arrangement, making it even
more
scooter-like in terms of the human driving interface.
Yet another application is illustrated in Fig. 26, where the dynamically
steerable mono belt apparatus 10 is used as an all-terrain vehicle. The all-
terrain vehicle
allows the operator to sit down or recline on a seating area, which gives more
space for a
longer duration of travel. The all-terrain vehicle should have on-board fuel,
and an internal
combustion engine, or batteries, or other power source, as well as a sturdier
frame and
suspension system, to allow for a higher speed and rougher off-road travel.
Importantly, the
all-terrain vehicle may be used in all seasons to drive off-road, whether in
the snow or other
soft or hard rocky surfaces or ground. The all-terrain vehicle system is
capable of much
tighter and higher speed turns than a snowmobile or even a wheeled all-terrain
vehicle. In
addition, the all-terrain vehicle is able to drive backwards if appropriate
clutching or reverse
gearing is provided in the gear box or transmission (if mechanically powered;
if powered
electrically, simply reversing motor-power polarity will cause reverse
driving). The steering
mechanism 50 of the all-terrain vehicle is a cable drive/shafting/gearing
arrangement, based
on input from the operator's handlebars or steering wheel. The continuous belt
element 18 is
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equipped with appropriate gripping elements 52, such as embedded steel
sections on the
continuous belt element 18, which would also allow for the use of carbide-
runners on the
underside of the frame 72. This would reduce friction in the shock absorbing
mechanism 74.
Alternatively, the previously discussed roller bogies running on a segmented
section of
embedded carbide sections in the continuous belt element 18 are envisioned.
The front of the
all-terrain vehicle contains a wishbone-link suspension-linkage arrangement,
coupled with a
spring dashpot shock-absorber. This passive pulley/sprocket arrangement is
mounted on a
hub and carriers similar to fixed guide spines 32, and is responsible for the
partial bending of
the flexible section of the guide spine 32. The output drive of the internal
combustion engine
driven transmission/gearbox system is passed to the rear drive shaft. This can
be done in a
variety of ways, including a belt, splined drive-shaft, chain, etc. The key is
that the rear
sprocket/pulley arrangement engages the drive spine and powers the entire
vehicle through
the continuous belt 18. The rear drive section is also mounted on an
articulated shock-
protected suspension. Again, a semicircular fixed guide spine 32 envelopes the
rear drive
section to guarantee engagement of the drive spine 38. The flexible section of
the guide
spine 32 is mounted across the pivot axes and guided and held so as to allow
them to take a
smooth circular/arch section.
Figs. 27a-c show still further embodiments of the steering mechanism 50 and
first pivot mechanism 16 and/or second pivot mechanism 22, as well as the
interrelationship
of the various components.
Overall, the present invention is a dynamically steerable mono belt apparatus
10 that allows for dynamic and continuous steering for a vehicle or a conveyor
system. As
opposed to the friction and grinding of the prior art mechanisms, the
dynamically steerable
mono belt apparatus 10 allows for smooth and continuous contact with the
ground surface
upon which it rides for increased applicability.
This invention has been described with reference to the preferred
embodiments. Obvious modifications and alterations will occur to others upon
reading and
understanding the preceding detailed description. It is intended that the
invention be
construed as including all such modifications and alterations.
