# US 2018/0021947 A1 · Endless track > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0021947 A1 - Document ID: US20180021947A1 - Status: Published application - Kind: A1 - Application number: 15/703,036 - Filed: 2017-09-13 - Published: 2018-01-25 - Earliest claimed: 2012-07-27 - Assignees: Engineering Services Inc. - Applicants: Engineering Services Inc. - Inventors: Andrew A. GOLDENBERG; Jun LIN - Web page: https://patentgrep.com/patent/US20180021947A1 ## CPC - B25J 9/08: characterised by modular constructions - B25J 5/005: {mounted on endless tracks or belts} - B25J 11/002: {Manipulators for defensive or military tasks} - B62D 55/075: Tracked vehicles for ascending or descending stairs, {steep slopes or vertical surfaces}(magnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00) - B62D 55/244: {Moulded in one piece, with either smooth surfaces or surfaces having projections, e.g. incorporating reinforcing elements} - B62D 55/26: Ground engaging parts or elements {(tracks specially adapted for amphibious vehicles B60F3/0015)} - Y10S 901/01: Mobile robot - Y10S 901/31: Gripping jaw - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract An endless track is for use with a mobile robot and includes a belt, a plurality of chamfered cleats, a plurality of holes and a dual v-guide. The belt has an inner surface and an outer surface. The plurality of chamfered cleats, each have a contact surface. The chamfered cleats are attached to the outer surface defining an attachment area, and the contact surface is shaped such that when the track is laid on a flat solid surface, each chamfered cleat contacts the flat solid surface with less area than the attachment area. The plurality of holes in the belt are disposed between the chamfered cleats and are shaped to allow teeth of a drive sprocket pulley to pass through and to engage the belt for transmitting force from the sprocket pulley to the belt. The dual v-guide includes two elongate, parallel protrusions which are spaced laterally from each other and are attached to the inner surface. ## Claims ### Claim 1 An endless track for use with a mobile robot having a drive sprocket with teeth, comprising: a belt having an inner surface and an outer surface; a plurality of chamfered cleats each having a contact surface, the chamfered cleats being attached to the outer surface defining an attachment area, and the contact surface shaped such that when the endless track is laid on a flat solid surface, each chamfered cleat contacts the flat solid surface with less area than the attachment area; a plurality of holes in the endless track, disposed between the chamfered cleats and shaped to allow teeth of the drive sprocket to pass through and to engage the belt for transmitting force from the drive sprocket to the belt; and a dual v-guide comprising two elongate, parallel protrusions which are spaced laterally from each other, and are attached to the inner surface. ### Claim 2 (depends on 1) The endless track according to claim 1 wherein each of the plurality of chamfered cleats has a substantially rectangular cross section in a plane perpendicular to the lateral direction to the endless track. ### Claim 3 (depends on 2) The endless track according to claim 2 further comprising a fillet where each of the plurality of chamfered cleats attaches to the outer surface. ### Claim 4 (depends on 3) The endless track according to claim 3 wherein each of the plurality of chamfered cleats is integrally formed with the belt. ### Claim 5 (depends on 4) The endless track according to claim 4 wherein each of the plurality of chamfered cleats has a rubber cover. ### Claim 6 (depends on 5) The endless track according to claim 5 wherein the holes are substantially rectangular. ### Claim 7 (depends on 1) The endless track according to claim 1 wherein the two elongate parallel protrusions extend around the belt. ### Claim 8 (depends on 1) The endless track according to claim 1 wherein the two elongate parallel protrusions of dual v-guide are first two elongate parallel protrusions, and further including at least a second two elongate parallel protrusions. ### Claim 9 (depends on 8) The endless track according to claim 8 wherein the first and second two elongate parallel protrusions have rounded edges. ### Claim 10 (depends on 9) The endless track according to claim 9 wherein the first and at least a second two elongate parallel protrusions are spaced longitudinally such that the drive sprocket, in operation, is always contacted by at least a portion of the first and second two elongate parallel protrusions. ### Claim 11 (depends on 1) The endless track according to claim 1 wherein the belt is made of nylon. ### Claim 12 (depends on 11) The endless track according to claim 11 wherein the dual v-guide is made of polyurethane. ### Claim 13 (depends on 12) The endless track according to claim 12 wherein the plurality of chamfered cleats each comprise a material selected from the group consisting of rubber and polyurethane.