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1. 发明授权

US12048655B2 Low-profile and high-load ball-balancing rolling system 有权
公开(公告)号：US12048655B2
公开(公告)日：2024-07-30
申请号：US17464446
申请日：2021-09-01
申请人： The Board of Trustees of the University of Illinois
发明人： Adam Wade Bleakney , Jeannette R. Elliott , Elizabeth T. Hsiao-Wecksler , Patricia Barrett Malik , Deana C. McDonagh , Arielle K. Rausin , William Robert Norris , Joao Luiz Almeida de Souza Ramos , Yu Chen , Chenzhang Xiao , Yinan Pei , Seung Yun Song
IPC分类号： B60B19/14 , A61G5/04 , A61G5/10 , B62K11/00
CPC分类号： A61G5/041 , A61G5/1056 , B60B19/14 , B62K11/007 , A61G2203/70
摘要： This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.

2. 发明公开

US20240246359A1 APPARATUS, SYSTEM, AND METHOD OF PROVIDING A STABILIZING DRIVE SYSTEM FOR A ROBOTIC VEHICLE 审中-公开
公开(公告)号：US20240246359A1
公开(公告)日：2024-07-25
申请号：US18435539
申请日：2024-02-07
申请人： JABIL INC.
发明人： Danny Peters , Jarrett Gayne
IPC分类号： B60B19/14 , B25J5/00 , B25J9/16 , B60B19/00 , B60B33/08
CPC分类号： B60B19/14 , B25J5/007 , B25J9/1664 , B25J9/1697 , B60B19/003 , B60B33/08
摘要： An apparatus, system and method capable of providing a stabilizing drive system for a robotic vehicle. The apparatus, system and method may include at least a robot body base; at least two drive wheels within the robot body base; a processing system having non-transitory computing code associated therewith which, when executed by the processing system, causes to be driven the at least two drive wheels; and a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving.

3. 发明授权

US11926172B2 Apparatus, system, and method of providing a stabilizing drive system for a robotic vehicle 有权
公开(公告)号：US11926172B2
公开(公告)日：2024-03-12
申请号：US17044043
申请日：2019-04-01
申请人： JABIL INC.
发明人： Danny Peters , Jarrett Gayne
IPC分类号： B60B19/00 , B25J5/00 , B25J9/16 , B60B19/14 , B60B33/08
CPC分类号： B60B19/14 , B25J5/007 , B25J9/1664 , B25J9/1697 , B60B19/003 , B60B33/08
摘要： An apparatus, system and method capable of providing a stabilizing drive system for a robotic vehicle. The apparatus, system and method may include at least a robot body base; at least two drive wheels within the robot body base; a processing system having non-transitory computing code associated therewith which, when executed by the processing system, causes to be driven the at least two drive wheels; and a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving.

4. 发明授权

US11643143B2 Spherical wheel leaning systems for vehicles 有权
公开(公告)号：US11643143B2
公开(公告)日：2023-05-09
申请号：US16675633
申请日：2019-11-06
申请人： Keph Sherin
发明人： Keph Sherin
IPC分类号： B62D17/00 , B60G3/00 , B60B19/14 , B60G15/06 , B60G3/20
CPC分类号： B62D17/00 , B60B19/14 , B60G3/00 , B60G15/062 , B60G3/20 , B60G2202/31 , B60G2500/30
摘要： A suspension system for a vehicle is disclosed. In some embodiments, the suspension system includes a wheel arch. In some embodiments, a wheel arch includes a gear track. In some embodiments, a wheel axle is coupled to a first and a second end of the wheel arch. In some embodiments, a steradian shaped wheel is mounted on the wheel axle. In some embodiments, a motor frame is coupled to a chassis of the vehicle. In some embodiments, the motor frame includes a lean motor configured to engage with the gear track. In some embodiments, actuation of the lean motor causes the wheel arch to rotate along an axis perpendicular to the longitudinal axis of the vehicle to create a change in a camber angle of the wheel.

5. 发明授权

US10493798B2 Air strut suspension system for a self-propelled high ground clearance product applicator 有权
公开(公告)号：US10493798B2
公开(公告)日：2019-12-03
申请号：US15468403
申请日：2017-03-24
申请人： CNH Industrial America LLC
发明人： Richard A. Moen
IPC分类号： B60B19/00 , B60G17/015 , B60G11/27 , B60G3/12 , A01B63/00 , B60B19/14 , A01M7/00 , B60G17/019 , A01B51/02
CPC分类号： B60B19/003 , A01B51/026 , A01B63/002 , A01B63/008 , A01M7/0082 , B60B19/14 , B60G3/12 , B60G11/27 , B60G17/019 , B60G17/0155 , B60G2300/08 , B60G2300/083 , B60G2300/37 , B60G2400/252 , B60G2400/95 , B60G2500/30
摘要： A system, apparatus and method for controlling the height of a frame of a self-propelled high ground clearance, agricultural product applicator above a ground surface utilize a trailing link suspension system including an extensible air strut, for connecting ground engaging wheels of the applicator to the frame of the applicator. The trailing arm suspension system includes an upper suspension arm attached to the frame, a lower suspension arm providing sole support of a ground engaging wheel attached to the lower arm, and the extensible air strut interconnected between the upper and lower arms. Height of the applicator above the ground surface is controlled by regulating a flow of pressurized air to the air strut, to thereby control extension of the air strut.

6. 发明授权

US09950565B2 Quick change system for wheels 有权
公开(公告)号：US09950565B2
公开(公告)日：2018-04-24
申请号：US14688311
申请日：2015-04-16
申请人： iPEK International GmbH
发明人： Dominik Pomp
IPC分类号： B60B37/10 , B60B19/14 , B60B27/06 , F16L55/28 , B60B3/14 , B08B9/049 , E03F9/00 , F16L55/40 , E03F7/12
CPC分类号： B60B37/10 , B08B9/049 , B60B3/14 , B60B3/142 , B60B19/14 , B60B27/065 , B60Y2200/60 , E03F7/12 , E03F9/002 , F16L55/28 , F16L55/40
摘要： A quick change system for carriage wheels comprising an axle adapter and a lock for axial locking of a wheel on the axle adapter, wherein the lock has at least one locking member and a release cooperating with the locking member, wherein the locking member axially locks the wheel on the axle adapter in a locking position, and the release and the locking member cooperate such that during moving of the release, the locking member can be brought from the locking position into a releasing position, in which the wheel is released axially.

7. 发明申请

US20170259618A1 CASTER APPARATUS AND TRANSFERRING APPARATUS INCLUDING THE SAME 审中-公开
公开(公告)号：US20170259618A1
公开(公告)日：2017-09-14
申请号：US15354439
申请日：2016-11-17
申请人： Samsung Electronics Co., Ltd.
发明人： Nam Su YUK , Jung Jun PARK , Eun Kyung HONG , Beom Soo HWANG
IPC分类号： B60B33/06 , B60B33/08 , B62D5/04 , B60B19/12 , B60K7/00 , B60B33/00 , B60B19/00
CPC分类号： B60B33/063 , B60B19/003 , B60B19/12 , B60B19/14 , B60B33/0036 , B60B33/0049 , B60B33/0057 , B60B33/0068 , B60B33/0073 , B60B33/04 , B60B33/08 , B60B2900/551 , B60B2900/721 , B60K7/0007 , B60K17/30 , B60K2007/0038 , B60K2007/0092 , B60Y2200/62 , B62D5/0418
摘要： A caster apparatus is provided. In one embodiment, there is provided a caster apparatus including a caster wheel and a first driving wheel disposed on a first side of the caster wheel. The first driving wheel is configured to be driven by a first motor. A second driving wheel is disposed on a second side opposite to the first side of the caster wheel. The second driving wheel is configured to be driven by a second motor different from the first motor. A first actuator is configured to move the first driving wheel in a vertical direction to a ground according to a curvature of the ground. A second actuator is configured to move the second driving wheel in a vertical direction to the ground according to a curvature of the ground, wherein the first and second driving wheels are configured to steer the caster wheel.

8. 发明授权

US09004202B2 Omnidirectional wheel that can be driven by a motor and vehicle provided therewith 有权
标题翻译：可以由其提供的电动机和车辆驱动的全方向车轮
公开(公告)号：US09004202B2
公开(公告)日：2015-04-14
申请号：US14349915
申请日：2012-10-05
申请人： Commissariat a l'Energie Atomique et aux Energies Alternatives
发明人： Alain Riwan , Alexandre Verney
IPC分类号： B60B19/00 , B60B19/14 , B60B33/00 , B60B33/08
CPC分类号： B60B19/003 , B60B19/14 , B60B33/0042 , B60B33/08
摘要： Spherical wheel that can be driven by a motor comprising a first body (1.1) and a second body (1.2) which are substantially hemispherical and are mounted coaxially to one another so as to pivot about a support axle (2), the bodies being separated by an interstice (3) into which there extends a shaft (6), said shaft having an end that is rigidly connected to the support axle and an opposite end that is connected to a drive motor, characterized in that at least one element (7, 17) extending at least one portion of the outer surface of the bodies extends into the interstice.Vehicle comprising a chassis that is supported by such wheels.
摘要翻译：可由包括第一主体（1.1）和第二主体（1.2）的电动机驱动的球形轮，所述第一主体（1.1）和第二主体（1.2）基本上是半球形的，并且彼此同轴地安装以围绕支撑轴（2）枢转，所述主体被分离通过其中延伸有轴（6）的空隙（3），所述轴具有刚性地连接到支撑轴的端部和连接到驱动马达的相对端，其特征在于，至少一个元件（7 ，17）延伸到所述主体的外表面的至少一部分延伸到所述间隙中。车辆包括由这种车轮支撑的底架。

9. 发明申请

US20130151043A1 SYSTEM FOR DRIVING SPHERICAL WHEEL 有权
标题翻译：驾驶车轮系统
公开(公告)号：US20130151043A1
公开(公告)日：2013-06-13
申请号：US13533294
申请日：2012-06-26
申请人： Ui Jung Jung
发明人： Ui Jung Jung
IPC分类号： B60L15/02
CPC分类号： B60B19/14 , B60B19/006 , H02K41/03 , H02K2201/18
摘要： Disclosed is a system for driving a spherical wheel that includes a rotating sphere having a plurality of magnetic modules and a fixed body. The fixed body has coil modules that generate a magnetic field by current and partially enclose the rotating sphere so that a portion of the rotating sphere is exposed. A support wheel disposed between the rotating sphere and the fixed body is configured to maintain a substantially constant distance between the rotating sphere and the fixed body and rotatably support the rotating sphere. A sensor provided in at least one of the rotating sphere and the fixed body is configured to measure a rotational speed and a position of the rotating sphere, and a control device is configured to receive driving signals, the rotational velocity and the position measured by the sensor and to transmit a control signal supplying a current to the coil module.
摘要翻译：公开了一种用于驱动球面轮的系统，其包括具有多个磁性模块和固定体的旋转球体。固定体具有线圈模块，其通过电流产生磁场并部分地包围旋转球体，使得旋转球体的一部分露出。设置在旋转球体和固定体之间的支撑轮构造成在旋转球体和固定体之间保持基本上恒定的距离并且可旋转地支撑旋转球体。设置在旋转球体和固定体中的至少一个的传感器被构造成测量旋转球体的旋转速度和位置，并且控制装置被构造成接收驱动信号，旋转速度和由并传送向线圈模块提供电流的控制信号。

10. 发明申请

US20100243342A1 Omni-wheel based drive mechanism 审中-公开
标题翻译：全轮驱动机构
公开(公告)号：US20100243342A1
公开(公告)日：2010-09-30
申请号：US12382843
申请日：2009-03-25
申请人： Chia-Wen Wu , Chi-Kuang Hwang
发明人： Chia-Wen Wu , Chi-Kuang Hwang
IPC分类号： B62D57/00
CPC分类号： B62D57/00 , B60B19/003 , B60B19/14
摘要： An omni-wheel based driving mechanism includes a spherical wheel, a pair of first omni wheels, and a pair of second omni wheels. The first omni wheels are arranged at two sides of the spherical wheel to space from each other by a predetermined distance in a first direction, so that the spherical wheel is rollably positioned between the first omni wheels. The second omni wheels are arranged at another two sides of the spherical wheel to space from each other by a predetermined distance in a second direction, so that the spherical wheel is rollably positioned between the second omni wheels. Therefore, a good driving efficiency can be obtained between the spherical wheel and the-first omni wheels and the second omni wheels.
摘要翻译：全轮驱动机构包括球面轮，一对第一全向轮和一对第二全向轮。第一全轮被布置在球形轮的两侧，以在第一方向彼此间隔预定距离，使得球形滚轮可滚动地位于第一全向轮之间。第二全向轮布置在球形轮的另外两侧，以在第二方向上彼此间隔预定距离，使得球形滚轮可滚动地定位在第二全向轮之间。因此，可以在球面轮与第一全向轮和第二全向轮之间获得良好的驱动效率。

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