Special Wheel Base Patents (Class 180/21)
  • Patent number: 10583862
    Abstract: A vehicle includes first and second roof rails spaced from each other, and a forward member and rearward member connected to each other and each extending from the first roof rail to the second roof rail. The forward member includes a beam and a finger. The finger is on the first roof rail and extends from the beam away from the rearward member.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: March 10, 2020
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Mohamed Ridha Baccouche, Rahul Arora, James Chih Cheng, Arnold Kadiu
  • Patent number: 10550541
    Abstract: A connection system for connecting an implement to a work vehicle has a movable arm and an operator control area. The connection system includes a lock assembly and a control switch. The lock assembly is able to be coupled to the movable arm. The lock assembly includes a pin and an electrically operated actuator. The pin is able to engage a portion of the implement. The actuator is coupled to the pin for translating the pin. The control switch is positioned for engagement from within the operator control area. The control switch is able to be in selective electrical communication with the actuator.
    Type: Grant
    Filed: April 25, 2019
    Date of Patent: February 4, 2020
    Assignee: DEERE & COMPANY
    Inventors: Jose Angel Diaz, Jesus Armando Montalvo Urbina
  • Patent number: 10485623
    Abstract: Some embodiments described herein relate to an arm cart operable to transport a robotic arm to and/or from a surgical table. The robotic arm can be coupled to the arm cart via a connector. The connector can be slideably mounted to the arm cart such that the connector and the robotic arm, collectively, can move relative to the arm cart. For example, when the arm cart is adjacent to the surgical table, the connector and the robotic arm can be movable to provide final, fine adjustments to align the robotic arm with a coupling portion of the surgical table.
    Type: Grant
    Filed: October 4, 2017
    Date of Patent: November 26, 2019
    Assignee: VERB SURGICAL INC.
    Inventor: Robert T. Wiggers
  • Patent number: 10451222
    Abstract: A robotic vehicle for traversing surfaces is provided. The vehicle is comprised of a front chassis section including a magnetic drive wheel for driving and steering the vehicle and a front support point configured to contact the surface. The vehicle also includes a rear chassis section supporting a follower wheel. The front and rear chassis sections are connected by joints including a hinge joint and a four-bar linkage. The hinge is configured to allow the trailing assembly to move side-to-side while the four-bar linkage allows the trailing assembly to move up and down relative to the front chassis. Collectively, the rear facing mechanism is configured to maintain the follower wheel in contact with and normal to the surface and also maintains the front support in contact with the surface and provides stability and maneuverability to the vehicle while traversing surfaces regardless of surface curvature and vehicle orientation.
    Type: Grant
    Filed: July 12, 2017
    Date of Patent: October 22, 2019
    Assignee: SAUDI ARABIAN OIL COMPANY
    Inventors: Pablo Carrasco Zanini, Fadl Abdellatif, Brian Parrott, Ali Outa
  • Patent number: 10399616
    Abstract: A mobile, spherical robot includes a spheroid shell, an internal assembly secured to the shell, and a head disposed atop the shell. The internal assembly is disposed within the shell for propelling the mobile robot. The internal assembly includes a base, a flywheel assembly rotatably secured to the base, a drive assembly rotatably secured to the spheroid shell and configured to propel the mobile robot by rotating the spheroid shell about the base a pivoting arm pivotably secured to the base, and the pivoting arm. The head is secured to the magnetized end of the pivoting arm through the spheroid shell. The head is configured to move relative to the spheroid shell and relative to the base by the pivoting of the pivoting arm.
    Type: Grant
    Filed: August 12, 2016
    Date of Patent: September 3, 2019
    Assignee: Spin Master Ltd.
    Inventors: Mark Ellerman, Chris Hardouin
  • Patent number: 10384772
    Abstract: A flying machine frame structural body including: a frame that surrounds a flying machine body including a rotating blade, and to which the flying machine body is fixed; and plural wheels that are rotatably supported by the frame.
    Type: Grant
    Filed: July 26, 2016
    Date of Patent: August 20, 2019
    Assignee: FUJITSU LIMITED
    Inventors: Moyuru Yamada, Yoshiro Hada
  • Patent number: 10271623
    Abstract: A smart self-driving system includes a body, such as a piece of luggage, supported by a plurality of wheel assemblies. At least one wheel assemblies includes a wheel rotating motor configured to rotate a wheel of the wheel assembly to move the luggage in a given direction. At least one wheel assemblies includes a wheel orientation sensor configured to measure the orientation of the wheel. At least one wheel assembly includes a wheel orientation motor configured to orient the wheel in the given direction. The smart self-driving system is configured to move in forward direction that is different than a head direction of the body.
    Type: Grant
    Filed: July 26, 2018
    Date of Patent: April 30, 2019
    Assignee: LINGDONG TECHNOLOGY (BEIJING) CO. LTD
    Inventors: Ou Qi, Zhaoqiang Chen, Xingyu Lian, Guorong Ren, Bin Fan
  • Patent number: 10245945
    Abstract: A driving device of a robot includes at least one driving assembly and a fixing assembly that are arranged outside a base of the robot. The at least one driving assembly includes a motor, an omnidirectional wheel, a connection shaft used to connect an output shaft of the motor to the omnidirectional wheel, and a connection assembly used to connect the connection shaft to the motor and the omnidirectional wheel. The motor, the connection shaft and the omnidirectional wheel are arranged along a radial direction of the base, and the fixing assembly is used to fix the motor to the base of the robot.
    Type: Grant
    Filed: July 9, 2017
    Date of Patent: April 2, 2019
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Libing Zhou, Youpeng Li
  • Patent number: 10232890
    Abstract: A plant shield assembly includes an elongated shield having a first door operably connected to a second door and both doors are pivotally connected to the vehicle and movable between an open position and a closed position. The plant shield assembly includes a door opening mechanism operably attached to the elongated shield and configured to move the first and the second doors. The plant shield assembly includes a linkage assembly that connects the elongated shield with the door opening mechanism, and limits the extent of rotation of the doors. The door opening mechanism and linkage assembly are positioned between the elongated shield and the vehicle. The door opening mechanism can be a handle attached to the elongated shield. Optionally, the plant shield assembly includes an access door that is disposed between an open position to enable actuation of the handle and a closed position to block actuation of the handle.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: March 19, 2019
    Assignee: DEERE & COMPANY
    Inventors: Kevin J. Goering, Michael J. Myers
  • Patent number: 10226965
    Abstract: An agricultural machine such as a high clearance sprayer is provided with a frame capable of supporting wheels at a variable tread width. The frame includes a pair of cross members, both of which have slider receivers. The machine also includes a first axle slider for a first side and a second axle slider for a second side. The machine may also have a slider to frame connection arrangement that includes a reduced friction zone at the slider receivers that facilitate telescopic movement of the axle sliders. The slider to frame connection may also have at least one fixed slider wear pad in a fixed position within the reduced friction zone and at least one movable slider wear pad movably arranged within the reduced friction zone.
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: March 12, 2019
    Assignee: CNH Industrial America LLC
    Inventors: Blaine A. Schwalbe, Brian Pilney
  • Patent number: 10220843
    Abstract: A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.
    Type: Grant
    Filed: February 23, 2017
    Date of Patent: March 5, 2019
    Assignee: DEKA Products Limited Partnership
    Inventors: Stewart M. Coulter, Brian G. Gray, Dirk A. van der Merwe, Susan D. Dastous, Daniel F. Pawlowski
  • Patent number: 10189342
    Abstract: A ball-balancing drive assembly includes a ball having a ball surface and a reference axis extending through a centroid of the ball. Three omniwheel assemblies, each having a motor with a motor axle and an omniwheel configured to rotate around the motor axle are mounted on a chassis configured for supporting the three omniwheel assemblies at radially symmetric spacings with the motor axles oriented at an angle relative to the reference axis and the omniwheels oriented in mutually-orthogonal planes. Each omniwheel frictionally contacts the ball surface to convert rotational motion of the motor axle to torque on the ball.
    Type: Grant
    Filed: February 9, 2016
    Date of Patent: January 29, 2019
    Assignee: The Regents of the University of California
    Inventors: Thomas R. Bewley, Jeffrey M. Friesen, Eric Sihite, Daniel Yang
  • Patent number: 10160508
    Abstract: Disclosed is a single-wheeled balance vehicle. The single-wheeled balance vehicle includes: a wheel provided on a wheel frame, a motor transmission mechanism fixed in the wheel frame and arranged to drive the vehicle according to acquired manned mode information; a wheel cover arranged to partially cover the wheel; a skeleton arranged to reinforce mechanical strength of the wheel cover; and footboards arranged to be stepped on by both feet of a driver in driving. The wheel cover partially covers the wheel and in embodiments may be in a surface contact, so that the contact area is larger, contact stress is more dispersive, a strain is relatively small, the deformation of the wheel cover can be reduced, the possibility that a tire or a hub motor is rubbed or locked due to deformation of the wheel cover in the related art can be avoided, and safety performance can be improved.
    Type: Grant
    Filed: September 24, 2015
    Date of Patent: December 25, 2018
    Assignee: NINEBOT (BEIJING) TECH CO., LTD.
    Inventors: Ye Wang, Lufeng Gao, Lei Liu
  • Patent number: 10150501
    Abstract: A control system is disclosed for use in a zero turn vehicle, including an electric controller in communication with a pair of independent drive units. A joystick provides user inputs to the controller to control the rotational speed and direction of the drive units. The joystick includes a vertical stalk pivotable between a plurality of pivot positions, where each of the plurality of pivot positions corresponds to a particular rotational speed and direction of each of the driven wheels. A selector switch may be used to select one of a plurality of driving modes stored in the electric controller, wherein each of the plurality of driving modes maps a different set of speeds and directions for each of the driven wheels onto the plurality of pivot positions. The joystick may also rotate about a vertical axis to provide zero turn capability.
    Type: Grant
    Filed: August 7, 2017
    Date of Patent: December 11, 2018
    Assignee: Hydro-Gear Limited Partnership
    Inventors: Alyn Brown, Scott W. Keller
  • Patent number: 10136954
    Abstract: Devices, Systems, and Methods for controlled movement of the robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The robot may include a plurality of omni-directional wheels affixed to the robot base allowing multiple-axis movement of the robot. The robot may further include sensors for detecting a desired movement of the robot base and a control system responsive to the plurality of sensors for controlling the multiple-axis movement of the robot by actuating two or more of the plurality of omni-directional wheels.
    Type: Grant
    Filed: June 13, 2016
    Date of Patent: November 27, 2018
    Assignee: Globus Medical, Inc.
    Inventors: Norbert Johnson, Robert Stevens, Hisham Salem, Yuan Cheng
  • Patent number: 10137765
    Abstract: Disclosed is a front-and-rear split door (9) and an electric vehicle having the split door (9), the front-and-rear split door (9) comprises a front compartment door (901) and a rear compartment door (902) configured to open or close a passenger compartment (101), wherein the front compartment door (901) and the rear compartment door (902) are provided above the passenger compartment (101); a front end of the front compartment door (901) is connected to a vehicle body (1) via a first hinge assembly (903), a rear end of the rear compartment door (902) is connected to the vehicle body (1) via a second hinge assembly (904); and the electric vehicle further comprises a first turning mechanism (905) configured to control the front compartment door (901) to turn outwardly about the first hinge assembly (903) and a second turning mechanism (906) configured to control the rear compartment door (902) to turn outwardly about the second hinge assembly (904).
    Type: Grant
    Filed: April 1, 2014
    Date of Patent: November 27, 2018
    Assignee: SHENZHEN ZHILUN DRIVING TECHNOLOGY FOR ELECTRIC VEHICLE CO., LTD.
    Inventors: Shugang Gong, Bo Fu, Changliang Li, Yifeng Hu, Yanqiang Guo
  • Patent number: 10065667
    Abstract: Driving wheels and non-driving wheels are installed to a lower portion of a case body. The driving wheels are driven by drive devices, respectively. A control device controls a drive operation of the drive devices. An angle sensing device senses a tilt angle of the case body about a rotational axis of the driving wheels. In a case where the tilt angle of the case body, which is sensed with the angle sensing device, is equal to or larger than a predetermined tilt angle in a state where the driving wheels contact a ground while the non-driving wheels are lifted away from the ground, the control device controls the drive devices in such a manner that the case body is held in a self-standing state with the driving wheels while keeping the non-driving wheel away from the ground.
    Type: Grant
    Filed: July 26, 2016
    Date of Patent: September 4, 2018
    Assignee: SOKEN, INC.
    Inventors: Takenori Matsue, Koji Kawasaki, Michihiro Matsuura, Masami Kurosaka, Naoya Katoh
  • Patent number: 10048682
    Abstract: A mobile robot system for allowing a user to easily input a control command of a mobile robot, and a remote control method for the same are disclosed. The mobile robot system and the remote control method thereof can allow a user to easily input control commands regarding the movement and operation of the mobile robot using the jog-dial interface, such that the possibility of causing input errors can be reduced and desired commands can be quickly and efficiently transmitted, resulting in increased user manipulation of the mobile robot system. When the user enters the rotation command of the mobile robot, the mobile robot system can allow the user to perform intuitive interfacing through shuttle manipulation, such that the mobile robot system can facilitate transmission of a movement command having a circular trajectory and the same mobile robot control as in the user-intended control is achieved, resulting in implementation of emotional interface capable of increasing user accessibility.
    Type: Grant
    Filed: April 18, 2016
    Date of Patent: August 14, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Hwan Chang, Hong Jun Kim, Hee Suk Yoon, Ki Yong Lee, Chin Woo Kang, Kyong Su Kim
  • Patent number: 9962597
    Abstract: A self-propelled, one-wheeled vehicle may include a suspension system configured to provide arcuate, generally vertical motion of a board relative to an axle of a central wheel assembly when the vehicle encounters obstacles and bumps on a riding surface. Illustrative suspension systems may include a shock absorber and a swingarm that couple the wheel assembly to the board.
    Type: Grant
    Filed: October 11, 2017
    Date of Patent: May 8, 2018
    Assignee: Future Motion, Inc.
    Inventors: Kyle Jonathan Doerksen, Matthew Michael O'Brien
  • Patent number: 9950762
    Abstract: An electro-mechanical gyro-balanced unicycle includes a wheel provided with a first motor, a housing provided outside the wheel and hollow pedals respectively provided at both sides of the housing. The pedal is provided with an electro-mechanical gyro assembly, and the electro-mechanical gyro assembly includes a second motor and a rotor capable of being driven by the second motor to rotate at a high speed so as to produce torques in a horizontal plane. The unicycle has a simple structure, can enable a beginner to be capable of quickly getting on the unicycle without any external assistant force, and can still well realize self-balance in left and right directions over time.
    Type: Grant
    Filed: July 15, 2016
    Date of Patent: April 24, 2018
    Inventor: Honggui Lin
  • Patent number: 9832940
    Abstract: A control system for an irrigation system is disclosed that is configured to prevent a substantial positional change of the irrigation system while the system is traversing a substantially non-flat terrain, or surface. In an implementation, an irrigation system includes multiple interconnected spans that are supported by multiple tower structures. Each tower structure includes a drive unit for driving a tower structure at a selected speed. The irrigation system also includes a position-determining module configured to determine an actual position of the main section assembly. The irrigation system also includes a control device configured to determine an actual position of the main section assembly, compare the actual position with a desired position of the main section assembly, and to determine that the main section assembly is traversing a substantially non-flat surface.
    Type: Grant
    Filed: April 21, 2016
    Date of Patent: December 5, 2017
    Assignee: Valmont Industries, Inc.
    Inventor: Bruce Kreikemeier
  • Patent number: 9809277
    Abstract: In a frictional propulsion device comprising a frame, a main wheel including driven rollers rotatably supported by an annular core member about a tangential direction and a pair of drive disks each carrying drive rollers rotatable about a rotational center line at an angle with respect to both a tangential line of the drive disk and the rotational center line of the drive disk such that the drive rollers at least partly engage the driven rollers, each drive disk includes a hub rotatably supported by the support shaft, a disk member attached to a peripheral part of the hub, and holder beams arranged circumferentially between the hub and the disk member such that each holder beam is attached to the hub at a first end thereof and to the disk member at a second end thereof, each drive roller being rotatably supported by a corresponding adjoining pair of holder beams.
    Type: Grant
    Filed: April 12, 2016
    Date of Patent: November 7, 2017
    Assignee: Honda Motor Co., Ltd.
    Inventors: Tsutomu Yoshino, Wataru Yada
  • Patent number: 9789415
    Abstract: A propulsion system for a vehicle or toy vehicle is disclosed. The system comprises rotary drive means for driving the vehicle along ground, the rotary drive means operating in a plane and having a peripheral ground-engagement part. The system further comprises a rotor comprising one or more rotor blades rotatable about a rotor axis for producing thrust, wherein the rotary drive means and the rotor are positioned relative to each other so that during rotation of the rotor, the rotor blades pass through the plane of the rotary drive means, inside the peripheral ground-engagement part. In this way, the rotor blades are protected by the peripheral ground-engagement part.
    Type: Grant
    Filed: June 1, 2016
    Date of Patent: October 17, 2017
    Assignee: B-TECHNOLOGY SP. Z.O.O.
    Inventor: Witold Mielniczek
  • Patent number: 9770377
    Abstract: There is provided a movement assistance robot in which a single type of movement assistance robot can take care of multiple users having different physical abilities.
    Type: Grant
    Filed: February 7, 2013
    Date of Patent: September 26, 2017
    Assignee: FUJI MACHINE MFG. CO., LTD.
    Inventors: Joji Isozumi, Kazuaki Mori, Nobuyuki Nakane, Hideaki Nomura
  • Patent number: 9738301
    Abstract: A snowmobile footrest adapted to be disposed on a side of a snowmobile tunnel includes a plurality of interconnected ribs. At least one first rib extending in a first direction includes an upper first rib surface and a lower first rib surface defining a first rib height therebetween. A pair of vertical first rib surfaces, extending generally in a vertical direction between the upper and lower first rib surfaces, define a first rib thickness therebetween. The first rib height is greater than the first rib thickness. At least one second rib is connected to the at least one first rib. Each second rib extends in a second direction, the second direction being at an angle with respect to the first direction. The at least one first rib and the at least one second rib define at least one space therebetween. Snowmobiles having the footrests are also disclosed.
    Type: Grant
    Filed: June 30, 2015
    Date of Patent: August 22, 2017
    Assignee: BOMBARDIER RECREATIONAL PRODUCTS INC.
    Inventors: Sebastien Vezina, Yvon Bedard, Martin Gagnon, Jonathan Fortier
  • Patent number: 9731547
    Abstract: In a frictional propulsion device comprising a main wheel including driven rollers rotatably supported by an annular core member about a tangential direction and a pair of drive disks each carrying a plurality of drive rollers rotatable about a rotational center line at an angle with respect to both a tangential line of the drive disk and the rotational center line of the drive disk such that the drive rollers at least partly engage the driven rollers, a diameter of a drive side contact circle is smaller than a diameter of a driven side contact circle, and the drive disks are vertically offset relative to the main wheel so that only those drive rollers adjoining the main wheel are in contact with the driven rollers.
    Type: Grant
    Filed: April 14, 2016
    Date of Patent: August 15, 2017
    Assignee: Honda Motor Co., Ltd.
    Inventors: Tsutomu Yoshino, Wataru Yada, Jun Inada
  • Patent number: 9731783
    Abstract: A self-balancing powered unicycle device (100) having a single hubless wheel is disclosed. The self-balancing powered unicycle device comprises: a single wheel (120); a motor adapted to drive the wheel; a balance control system adapted to maintain fore-aft balance of the unicycle device; at least one foot platform (165) for supporting a user of the unicycle device; and a casing (110) adapted to cover at least a portion of the outer rim of the wheel. The self-balancing powered unicycle device further comprises at least one energy storage device compartment (150A, 150B) protruding outward from a side of the casing (110) and adapted to house an energy storage device for powering the unicycle device.
    Type: Grant
    Filed: February 2, 2015
    Date of Patent: August 15, 2017
    Inventor: Timur Artemev
  • Patent number: 9725114
    Abstract: A control system is disclosed for use in a zero turn vehicle, including an electric controller in communication with a pair of independent drive units. A joystick provides user inputs to the controller to control the rotational speed and direction of the drive units. The joystick includes a vertical stalk pivotable between a plurality of pivot positions, where each of the plurality of pivot positions corresponds to a particular rotational speed and direction of each of the driven wheels. A selector switch may be used to select one of a plurality of driving modes stored in the electric controller, wherein each of the plurality of driving modes maps a different set of speeds and directions for each of the driven wheels onto the plurality of pivot positions. The joystick may also rotate about a vertical axis to provide zero turn capability.
    Type: Grant
    Filed: July 2, 2015
    Date of Patent: August 8, 2017
    Assignee: Hydro-Gear Limited Partnership
    Inventors: Alyn Brown, Scott W. Keller
  • Patent number: 9724261
    Abstract: A handcart includes a main body, main wheels, support portions, auxiliary wheels, an extended portion, connection portions, a tilt angle sensor, and a gyro sensor. The main body is supported at one end thereof to be rotatable in a pitch direction relative to a pair of the main wheels. A bar-shaped connection portion of the extended portion is inserted through a tube portion at another end of the main body. The extended portion extends from the other end of the main body to a rear side in a travelling direction of the handcart. A region of each support portion from a rotation shaft of the main wheel to a rotation shaft of the auxiliary wheel and the extended portion are connected to each other by the connection portion. The connection portion is supported to be rotatable in the pitch direction relative to the support portion and the extended portion.
    Type: Grant
    Filed: September 22, 2016
    Date of Patent: August 8, 2017
    Assignee: MURATA MANUFACTURING CO., LTD.
    Inventors: Shinya Yamamoto, Yoshitaka Hane
  • Patent number: 9717978
    Abstract: An electric vehicle may comprise a board including deck portions each configured to receive a foot of a rider, and a wheel assembly disposed between the deck portions. A motor assembly may be mounted to the board and configured to propel the electric vehicle using the wheel assembly. At least one orientation sensor may be configured to measure orientation information of the board, and at least one pressure-sensing transducer may be configured to determine rider presence information. A motor controller may be configured to receive the orientation information and the rider presence information, and to cause the motor assembly to propel the electric vehicle based on the orientation and presence information.
    Type: Grant
    Filed: September 23, 2016
    Date of Patent: August 1, 2017
    Assignee: Future Motion, Inc.
    Inventors: Kyle Jonathan Doerksen, Daniel Wood, Julian de la Rua
  • Patent number: 9663106
    Abstract: A multidirectional wheel system, apparatus, and method to control one or more multidirectional wheels to provide multidirectional motion or movement for a movable apparatus, such as a skateboard, roller blades, a car, a motorcycle, a cleaning robot, to which the one or more multidirectional wheels are attached. The multidirectional wheel system can include a braking system to slow and/or stop the movement of the multidirectional wheel(s). At least one of the multidirectional wheels can be an omnidirectional wheel(s), with a plurality of multidirectional wheels acting thereon to control movement thereof.
    Type: Grant
    Filed: December 22, 2015
    Date of Patent: May 30, 2017
    Inventor: Abdulrahman Sadun Almutairi
  • Patent number: 9650061
    Abstract: A hand cart capable of satisfying walking stabilization and facilitation of carrying articles according to a movement mode includes a control section operable, based on a rotational angle of a wheel section, to calculate a movement distance and a traveling direction, and, according to the traveling direction and the inclination angle, to execute an assist control of causing a wheel driving section to generate a driving torque for assist force or braking torque for braking force, wherein the control section is operable, based on a movement distance and the inclination angle, to calculate an angular change rate of the inclination angle, and, when a contact with a grip member is detected, and the angular change rate is equal to or less than a given threshold, to execute the assist control.
    Type: Grant
    Filed: June 28, 2016
    Date of Patent: May 16, 2017
    Assignee: RT. WORKS CO., LTD.
    Inventors: Takahiro Katayama, Atsushi Koujina
  • Patent number: 9630447
    Abstract: In a frictional propulsion device comprising a main wheel including a plurality of driven rollers rotatably supported by an annular core member about a tangential direction and a pair of drive disk each carrying a plurality of drive rollers about a rotational center line at an angle with respect to both a tangential line of the drive disk and the rotational center line of the drive disk such that the drive rollers at least partly engage the driven rollers, a diameter of a drive side contact circle is smaller than a diameter of a driven side contact circle, and the drive disks are vertically offset relative to the main wheel so that only those drive rollers adjoining the main wheel are in contact with the driven rollers. Thereby, the power efficiency of the device can be improved while minimizing the manufacturing cost and the weight of the device.
    Type: Grant
    Filed: April 14, 2016
    Date of Patent: April 25, 2017
    Assignee: Honda Motor Co., Ltd.
    Inventors: Tsutomu Yoshino, Wataru Yada, Makoto Hasegawa, Shinichiro Kobashi, Jun Inada
  • Patent number: 9610693
    Abstract: A system includes a frame having spaced apart first and second upright members, and a robot including an end effector and a plurality of arms. The arms extend from the end effector and clamp onto the first and second frame members to position the end effector between the first and second frame members.
    Type: Grant
    Filed: April 2, 2012
    Date of Patent: April 4, 2017
    Assignee: The Boeing Company
    Inventors: Branko Sarh, Harinder S. Oberoi, Rodney S. Wright, Charles Y. Hu
  • Patent number: 9598136
    Abstract: A self balancing scooter steered with thighs is provided, which includes: two wheels having motors mounted; a motor housing for mounting the motors therein so as to allow rotary shafts of the motors to be located linearly; a footrest disposed on top of the motor housing; an erecting housing located on top of the footrest and having a battery and a controller mounted, the controller being adapted to control driving and direction change of the self balancing scooter, a cover disposed on top thereof, and an insertion hole formed on the center of the cover; a saddle having a seatpost fitted to the insertion hole of the cover; and a thigh steering plate mounted just on the underside of the saddle through the seatpost so as to be turned in left and right sides through the thighs of the rider sitting on the saddle to perform the direction change.
    Type: Grant
    Filed: November 2, 2015
    Date of Patent: March 21, 2017
    Assignee: ROBO3 CO., LTD.
    Inventors: Joon-Hyung Kim, Hwa Sung Jun
  • Patent number: 9582001
    Abstract: The present disclosure provides an example motor system. The motor system includes a steering motor with a first rotor positioned within a first stator. The steering motor is configured to rotate the first rotor about a steering axis. The motor system also includes a traction motor including a second stator positioned within a second rotor. The second rotor includes a traction surface defining a wheel. The traction motor is configured to rotate the second rotor about a rolling axis, and the traction motor is positioned within an opening in the first rotor. The motor system also includes an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis.
    Type: Grant
    Filed: October 7, 2015
    Date of Patent: February 28, 2017
    Assignee: X Development LLC
    Inventors: Robert Andre Holmberg, John William Zevenbergen, Mark Fischer
  • Patent number: 9561782
    Abstract: The vehicle includes a seating section provided in a main body and configured such that a driver is able to take a seat by straddling the same, foot placement sections located beneath the seating section to be respectively provided at left and right positions of sides of the main body with the seating section interposed therebetween, feet of the seated driver being placed on the foot placement sections, and a grip section located in front of the seating section and disposed above the seating section, the grip section being gripped with a hand of the driver so as to be operated, an acceleration operation being performed by tilting the grip section in a forward direction, a deceleration operation being performed by tilting the grip section in a rearward direction.
    Type: Grant
    Filed: November 14, 2014
    Date of Patent: February 7, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kohshi Katoh, Kuniaki Gotou, Eishi Takeuchi
  • Patent number: 9511811
    Abstract: A two-wheel gyroscope-stabilized vehicle includes a stabilizing gyroscope, having a gyroscope frame and a gyroscope rotor rotatably mounted in the frame. The gyroscope frame is free to rotate relative to the vehicle body. The vehicle further comprises a support structure that connects the vehicle body and the vehicle wheels, wherein the supporting structure is adapted to move the wheels independently in relation to each other and to move the wheels in relation to the body independently thereof. The support structure helps to keep the vehicle stable when riding on rough terrain. Balancing of the vehicle is provided by maintaining a right angle between the axis of rotation of the gyroscope rotor and direction of the vehicle movement by means of the control system through changing the difference of rotation velocities of the wheels. Steering of the vehicle is provided by means of applying the roll control force to the body.
    Type: Grant
    Filed: May 19, 2014
    Date of Patent: December 6, 2016
    Inventor: Sergey Nikolaevich Andreev
  • Patent number: 9499220
    Abstract: Drifting karts in accordance with embodiments of the invention are described that include a front wheel drive train and rear caster wheels that can be dynamically engaged to induce and control drift during a turn. One embodiment of the invention includes a chassis to which a steering column is mounted, where the steering column includes at least one front steerable wheel configured to be driven by an electric motor, a battery housing mounted to the chassis, where the battery housing contains a controller and at least one battery, wiring configured to provide power from the at least one battery to the electric motor, two caster wheels mounted to the chassis, where each caster wheel is configured to rotate around a rotational axis and swivel around a swivel axis, and a hand lever configured to dynamically engage the caster wheels to induce and control drift during a turn.
    Type: Grant
    Filed: August 7, 2015
    Date of Patent: November 22, 2016
    Inventor: Ali Kermani
  • Patent number: 9481423
    Abstract: A single-wheel structure transportation device with an extendable walking handle. The transportation device may include a motor, gyroscopic fore-aft self-balancing, and foot platforms for riding the device in a substantially standing position. Various extendable handle arrangements are disclosed that permit a use to readily maneuver the device while walking and to stow the walking handle with or within the frame or housing of the device while the user is riding the device.
    Type: Grant
    Filed: December 9, 2014
    Date of Patent: November 1, 2016
    Inventor: Shane Chen
  • Patent number: 9415630
    Abstract: An omni-wheel of a highly compact and light-weight is provided. The omni-wheel includes a disk-shaped hub member (110), a plurality of support arms (114) extending axially from the peripheral part of the hub member and arranged along a circle concentric to a rotational center line of the hub member at a regular interval, and a free roller (140) rotatably supported by a free end of each support arm around a rotational center line extending tangentially to a circle concentric to the rotational center line of the hub member and passing through a center of the free roller. The present invention also provides a wheel device incorporated with such a wheel and an inverted pendulum type vehicle using such a wheel device as a tail wheel unit.
    Type: Grant
    Filed: November 7, 2014
    Date of Patent: August 16, 2016
    Assignee: Honda Motor Co., Ltd.
    Inventors: Tsutomu Yoshino, Wataru Yada
  • Patent number: 9367066
    Abstract: An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.
    Type: Grant
    Filed: March 26, 2014
    Date of Patent: June 14, 2016
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Makoto Hasegawa, Shinichiro Kobashi, Shinya Shirokura
  • Patent number: 9358901
    Abstract: Provided is an inverted pendulum type vehicle capable of properly estimating whether or not a rider is thereon and controlling the travel of the vehicle by reflecting the result of the estimation. An inverted pendulum type vehicle 1, in which a traveling unit is driven by electric motors 31R, 31L, includes an occupied/unoccupied estimating unit (a first estimating unit) 62, which estimates whether or not a rider is on the vehicle 1 based on the observation values of the energizing currents of the electric motors 31R, 31L. A control unit 50 controls the operations of the electric motors 31R, 31L according to the estimation result of the estimating unit 62.
    Type: Grant
    Filed: March 5, 2015
    Date of Patent: June 7, 2016
    Assignee: Honda Motor Co., Ltd.
    Inventors: Shinya Shirokura, Kazumasa Ozaki
  • Patent number: 9296274
    Abstract: Wheel assembly for a vehicle includes a wheel, at least one lower suspension link and an upper attachment joint, both being able to be attached to the vehicle, the wheel being able to rotate at 360° to steer the vehicle around a pivot line positioned by said at least one lower suspension link and said upper attachment joint once attached to the vehicle, a projection of the pivot line onto a vertical projection plane comprising a vertical axis passing through a contact point between the wheel and ground defining a caster angle with said vertical axis. The caster angle can be adjusted within a predetermined range, whatever the orientation of the projection plane. A distance between the upper attachment point and the contact point between the wheel and ground in relation to the adjusted caster angle can be adjusted.
    Type: Grant
    Filed: March 6, 2012
    Date of Patent: March 29, 2016
    Inventor: John Victor Gano
  • Patent number: 9278766
    Abstract: A trajectory generation device includes a control target (1), an angle detector (2), a command generator (5) and a trajectory generator (6). If a change is generated from a current target angle to a new target angle or if a change is generated from the current target angular velocity to a new target angular velocity in the command generator (5), a changed trajectory is regenerated by the trajectory generator (6) based on the angle up to the new target angle or the angular velocity up to the new target angular velocity, on the basis of the output angular velocity generated by the trajectory generator (6) at the point the change has occurred and on the basis of a current angle at the point the change has occurred or an output angle generated by the trajectory generator (6) at the point the change has occurred.
    Type: Grant
    Filed: March 26, 2013
    Date of Patent: March 8, 2016
    Assignee: NEC CORPORATION
    Inventor: Motoaki Shimizu
  • Patent number: 9085334
    Abstract: An electric powered self-balancing unicycle may include a single wheel assembly having a drive system substantially contained within the wheel, a frame and handlebars including a four-bar linkage mechanism pivotably connected to the wheel assembly by a fork.
    Type: Grant
    Filed: August 22, 2013
    Date of Patent: July 21, 2015
    Assignee: RYNO Motors, Inc.
    Inventors: Christopher J. Hoffmann, Anthony J. Ozrelic
  • Patent number: 9074385
    Abstract: A self directed pool cleaning vehicle comprising a body carrying water inlet and outlet ports with the inlet port being located on the bottom of the body with the body containing a filter is described. A drive mechanism propels the vehicle in two generally opposed directions. Two axles which each carry two wheels support the body and control its direction of movement. One axle is mounted to the body via slots that extend in the directions of motion such that this axle can move toward either end of the slots. A steering structure is provided with a portion that moves to close a portion of one of the slots and can be locked in a position that prevents one end of an axle from traversing its slot. Thus when this axle is the trialing axle it is held at other than a right angle to the two generally opposed directions.
    Type: Grant
    Filed: November 20, 2012
    Date of Patent: July 7, 2015
    Assignee: AQUA PRODUCTS, INC
    Inventors: Ethan Hanan, Kameshwar Durvasula, William Londono Correa, Aleksandr Klebanov, Jason Zerweck, Tony Gatta
  • Patent number: 9061721
    Abstract: An inverted pendulum type vehicle includes a vehicle body frame having a footstep on which for positioning a rider's feet, a main wheel subjected to an inverted pendulum control, and stand arms pivotally mounted between a standing position and a housing position for supporting the vehicle body frame in a standing state when the inverted pendulum control is not being carried out and the stand arms is positioned at the standing position. The inverted pendulum type vehicle has housing levers that are provided on the vehicle body frame for pivoting the stand arms from the standing position to the housing position. The housing levers protrude upward from a footrest surface of the footstep when the stand arms is positioned at the standing position, and pivot the stand arms to the housing position by being pushed down to the side of the footrest surface.
    Type: Grant
    Filed: May 8, 2014
    Date of Patent: June 23, 2015
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Yusuke Muto, Wataru Yada
  • Patent number: 9033073
    Abstract: The invention provides a motorized portable mobility device configured expressly for use by those who have undergone leg amputation. A generally rectangular wheeled base platform with a U shaped niche positioned on the rear of the device easily traverses both carpeted and solid flooring. A circular rotating plate enables a user to quickly adjust directional positioning. Two feet and adjustable height legs terminating in integrated support socks are mounted to the rotating plate. Adjustable height vertical supports terminating in handles and having a horizontal cross member are mounted to the front of the device. A control panel is mounted to a handle.
    Type: Grant
    Filed: May 6, 2013
    Date of Patent: May 19, 2015
    Inventors: Ninfa Garcia, Wilfredo Garcia
  • Publication number: 20150075881
    Abstract: A single-pole single-wheel self-balancing electric vehicle comprises a wheel. The wheel is provided with a tire of a small sidewall aspect ratio. The wheel is provided with a control system, a drive circuit, an electricity supply system and a power system. A sensor system is highly integrated in the centers of gravity of the support arms, which are provided on the two sides of the wheel through a stator shaft. The electricity supply system, the drive circuit, the sensor system and the power system are respectively connected with the control system. The sensor system and the power system are electrically connected with the electricity supply system respectively. Because the control system, the drive circuit, the electricity supply system and the power system are highly integrated on the wheel, the electric vehicle has a more compact structure with improved utilization of space, and improved portability.
    Type: Application
    Filed: December 2, 2013
    Publication date: March 19, 2015
    Inventor: Shichuang LIU