# US 8,540,040 B2 · Multi-purpose ground vehicle

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- Number: US 8,540,040 B2
- Document ID: US8540040B2
- Status: Granted
- Kind: B2
- Application number: 11/936,137
- Filed: 2007-11-07
- Published: 2011-02-17
- Granted: 2013-09-24
- Earliest claimed: 2007-11-07
- Assignees: Gse Technologies, LLC
- Applicants: Glen Raymond Simula; Luke Stephen Luskin; David Jon McKinstry
- Inventors: Glen Raymond Simula; Luke Stephen Luskin; David Jon McKinstry
- Web page: https://patentgrep.com/patent/US8540040B2

## CPC

- B62D 55/065: Multi-track vehicles, i.e. more than two tracks {(soil-shifting machines E02F; mining machines E21C)}
- 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 55/084: Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units (B62D55/07 takes precedence)
- B62D 55/104: Suspension devices for wheels, rollers, bogies or frames (vehicle suspension in general B60G)
- B62D 55/116: Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
- B62D 55/305: {acting on pivotably mounted idlers}
- F41H 7/005: {Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors (F41H11/16 takes precedence)}
- 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)
- F41H: ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL

## Abstract

The invention relates to a multi-purpose ground vehicle (10) that may serve as a platform (12) for carrying a payload (14). The vehicle has a chassis (16) and a suspension (18) mounted to the chassis (16) for varying ride height and for influencing a response of the chassis (16) to underlying terrain. Track modules (22, 24, 26, 28) are associated for the suspension. These modules (22, 24, 26, 28) can be reoriented independently of each other. Preferably, at least some of the track modules (22, 24, 26, 28) include a band track (38) that circumscribe one or more wheels (30, 32) that are associated with a given track module (22, 24, 26, 28).

## Claims

### Claim 1

A multipurpose ground vehicle that may serve as a platform for carrying a payload, the vehicle comprising:
a chassis;
a suspension mounted to the chassis for varying ride height and for influencing a response of the chassis to underlying terrain, the suspension comprising:
a rotary actuator mount for securing the suspension to a rotary actuator,
one or more radius control arms extending generally laterally from the rotary actuator mount,
an arm extending generally longitudinally from the rotary actuator mount, and
means for springing extending upwardly from the rotary actuator mount;
a plurality of track modules associated with the suspension that can rotate independently of each other for altering the height of the chassis above the terrain or a clearance of the chassis beneath an overlying object;
one or more wheels associated with at least some of the plurality of track modules, at least some of the one or more wheels being propelled by means for turning a wheel;
means for propelling the means for turning;
a band track associated with at least some of the track modules, the band track circumscribing the one or more wheels associated with a track module, the vehicle being able to move without the band track so that it is propelled or retarded by interaction between the wheels and the terrain;
means for tensioning the band track that engages the band track for maintaining tension in the band track regardless of orientation of the associated track module as it maneuvers over uneven terrain;
an idler roller linkage arm associated with at least some of the track modules, the arm extending between the means for tensioning and a distal portion of a walking beam having a fixed center; and
the rotary actuator associated with at least some of the track modules, the rotary actuator being affixed to the center of the walking beam, the rotary actuator serving to displace the distal region of the walking beam arcuately, the linkage arm and the means for tensioning being displaced in response, thereby influencing tension in the band track, the rotary actuator also allowing an associated track module to be rotated independently of another track module;
wherein the rotary actuator is configured to displace an associated track module arcuately through 360 degrees.

### Claim 2 (depends on 1)

The vehicle of claim 1, wherein the suspension has a high pressure state and a low pressure state, the high pressure state elevating the chassis and the rotary actuator urging the band tracks toward a position in which a major axis of the track module moves toward a vertical orientation, thereby enabling the platform to crawl over an object, the low pressure state lowering the chassis and the rotary actuator urging the major axis of the band tracks toward a horizontal position that enables the vehicle to crawl under an object.

### Claim 3 (depends on 1)

The vehicle of claim 1, further comprising a payload attached to the chassis, the payload being selected from the group consisting of a weapons system, rescue hardware, fire-fighting hardware and hazardous materials handling equipment.

### Claim 4 (depends on 1)

The vehicle of claim 1, wherein the payload is selected from the group consisting of a robot, a station for a human and combinations thereof.

### Claim 5 (depends on 1)

The vehicle of claim 1, wherein the suspension is an air-ride suspension.

### Claim 6 (depends on 1)

The vehicle of claim 1, wherein the vehicle has a front portion, a rear portion and a pair of opposing side portions that extend between the front and rear portions, the arms associated with the rotary actuators at the front of the chassis extending rearwardly from the front portion and the arms associated with the rear portion extending forwardly from the rear portion.

### Claim 7 (depends on 1)

The vehicle of claim 1, wherein the rotary actuator is configured to displace an associated track assembly arcuately through more than 360 degrees.

### Claim 8 (depends on 1)

The vehicle of claim 1, wherein the means for propelling is selected from the group consisting of a motor, a mechanical drive with a drive shaft, a gasoline engine, a diesel engine, a fuel cell, one or more electrical batteries, an electric motor, a hybrid system and a torque generator.

### Claim 9 (depends on 1)

The vehicle of claim 1, wherein the rotary actuator is selected from a group consisting of an electric motor and a hydraulic actuator.

### Claim 10 (depends on 1)

The vehicle of claim 1, further including:
a track system attached to the chassis, the track system detachably securing the payload;
a displacement mechanism attached to the payload for displacing the payload in relation to the track system, thereby repositioning a center of gravity of a compound body including the chassis and the payload.

### Claim 11 (depends on 10)

The vehicle of claim 10, further including a control system in communication with the displacement mechanism for sending a signal to the displacement mechanism in response to which the payload may move in relation to the track system.

### Claim 12 (depends on 1)

The vehicle of claim 1 wherein the means for tensioning the band track has a first tensioner and a second tensioner, the first tensioner positioned adjacent to the center of the walking beam, and the second tensioner positioned adjacent to the center of the walking beam and opposed to the first tensioner.