Abstract: A support system in accordance with the invention comprises: an oscillating arm (1) having a first end fitted with means (2) for mounting the oscillating arm to pivot relative to the body (6) of a vehicle in a direction which is substantially parallel to a longitudinal axis of the vehicle, and having a second end with a wheel bearing support (21) mounted thereon, said wheel bearing support being mounted to swivel about a swivel axis (19) mounted on the oscillating arm; oscillating arm positioning means (46) for maintaining the oscillating arm in a predetermined average position; and means (36) for controlling the orientation of the wheel bearing support (21) about the swivel axis (19).

Abstract: This invention comprises a driveable, steerable platform for industrial, domestic, entertainment and related uses. A frame member travels on a plurality of wheels which can be turned 360.degree. to steer the platform in a desired direction. Separate endless drive means in the form of gear-driven concentric shafts drive and steer the wheels. The platform travels substantially parallel to the terrain traversed. The entire platform may be housed in a hollow sphere to cause the sphere to selectively roll, providing the platform the ability to move about on radically uneven terrain including the ability to climb steps of height equal to approximately one-half the sphere's diameter. The wheels engage the inner surface of the rolling sphere to drive and steer the rolling sphere.

Abstract: A method and apparatus for determining a center position of the vehicular steering system includes a steering sensor and a control unit. A variable sampling time strategy is employed to determine a precise center for the steering system. As an option, the control algorithm may employ both variable sampling time and a variable size for a window of operation.

Abstract: An omnidirectional vehicle having at least three wheels which can be steered in a given directions to allow the vehicle to travel in any direction, comprises a large steering gear horizontally and rotatably mounted at a body, a motor for driving the large steering gear, steering shafts numbering the same as the wheels, extending vertically around the large steering gear and adapted to rotatably support the wheels at lower ends of the steering shafts, and small steering gears numbering the same as the steering shafts and concentricably fixed to the steering shafts, respectively, so as to mesh with the large steering gear and adapted to rotate the steering shafts upon rotation of the large steering gear to change the steering directions of the wheels. The steering shafts may be hollow shafts.

Abstract: A six-wheeled motor vehicle has a pair of front wheels, a pair of middle wheels and a pair of rear wheels. These six wheels are supported on a frame and driven by an engine. The vehicle has the arrangement in which the engine is disposed between the axles of the middle wheel and the rear wheel, or, in a second embodiment, between the axles of the front wheel and the middle wheel. A footrest is disposed between the front wheel and the middle wheel in the first embodiment, and between the middle wheel and the rear wheel in the second embodiment. Due to this arrangement, the load on each wheel is substantially equalized with each other.

Abstract: A concentric shaft mobile base for robots and the like is disclosed incorporating three wheels which can be simultaneously driven and steered so as to allow the mobile base to change direction without rotation of the mobile base. Concentric shafts transfer power from drive sources to the wheel assemblies and wheel axles. In an additional embodiment, each wheel is located on an extensible leg assembly which can be pivoted to project outwardly from the mobile base and thereby provide additional stability to the base. Concentric shafts are used in this embodiment to transfer steering and drive power to the wheel assemblies and wheels. Planetary gear assemblies are optionally associated with each extensible leg assembly so as to provide controlled retraction and extension of the leg assemblies without wheel slippage or pirouetting.

Abstract: A mobile base for robots or other devices requiring a transport mechanism is disclosed incorporating a plurality of wheels which are simultaneously driven and steered by separate drive sources so as to allow the mobile base to change direction without rotation of the mobile base. In an additional embodiment, each wheel is located on an extensible leg assembly which can be rotated to project outwardly from the mobile base and thereby provide additional stability to the base. This adaptive, retractable leg synchro-drive mobile base uses a third drive source to perform the extension and retraction of the leg assemblies and provides that the wheels maintain their orientation while extension or retraction occurs while the mobile base is in translation and that the wheel orientation returns to its previous state if retraction or extension occurs while the base is not in translation.

Abstract: An omnidirectional drive system including a driven body, a drive unit having an inclined doughnut-shaped drive wheel and a follower unit. The driven body is supportable either jointly by the drive and follower units or solely by the follower unit. The driven body can move omnidirectionally through 360 degrees and its direction of movement can be determined by an angle at which the drive wheel is tilted relative to the driven body.

Abstract: A drive train for a steerable drive wheel of a vehicle includes a spur gear stage and a bevel gear stage in a drive train housing which is supported for pivotal movement about a vertical axis. The drive wheel is driven through a horizontal axis from a vertically arranged motor. The housing is divided so that the axle-base change of the spur gear stage which is necessary when changing the drive wheel width requires different parts only for the part of the drive train housing which surrounds the spur gears. The remaining part of the drive train housing, which contains the bevel gear stage, is always the same. A slewing ring can be integral with the housing part which surrounds the spur gears. Furthermore, an opening for supplying or discharging air to or from the motor chamber can be provided.

Abstract: A straddle type mobile crane has a pair of hydraulic motor driven front wheels which may be pivoted about a vertical axis for steering. Each motor is supplied by an individual source of pressurized fluid which may be interconnected by a pair of adjustable control valves. A turning crank at each wheel engages a cam coupled to a respective one of the valves so that the hydraulic motors are coupled when the wheels are pivoted through predetermined angles.

Abstract: A tractor in which a function of adjusting the rut distance and the vehicle body height from the ground is combined, in a simple and effective manner, with the front wheel drive and steering mechanisms and the rear wheel drive mechanisms.

Abstract: A bearing, hub and carrier assembly for use in a driven steering wheel wherein the drive shaft-engaging spindle on the wheel-mounting hub is locked against axial movement with respect to the spindle-surrounding wheel bearings by a one-piece retaining wire disposed in radially aligned circumferential grooves in the hub spindle and the inner race of the inboard wheel bearing.

Abstract: A self propelled forklift vehicle having a frame formed by two spaced parallel longitudinal frame members and a rear transverse frame member. The fork carriage is movable forwardly and rearwardly on the longitudinal frame members, along the path of the machine, and carries a fork tower and forks. The forks can be forced below the vehicle to raise the vehicle up beneath the rear of a trailer for transport. The vehicle's rear wheels, which steer and drive the vehicle, are closely spaced and tiltable from side to side to allow for rough terrain, with the operator seat and motor on opposite sides thereof to balance each other. A manually operated split pulley drive allows creeping of the vehicle at a closely controlled low speed. The fork tines include erectable rollers to support part of the vehicle weight when the forks carry a forwardly extended load, to prevent tipping. A front gate causes a discharge of the contents of a pallet onto the ground when the fork carriage is retracted.

Abstract: A drive arrangement in the chassis of an electrically powered mobile machine such as a fork lift or the like having a steerable wheel assembly at one end of the chassis and a non-steerable wheel assembly at the opposite chassis end wherein each wheel includes coupling means for connection to a driving motor and one or more driving motors may be selectively mounted in the chassis to selectively drive one, two, several or all wheels of the vehicle as may be desired.

Abstract: An independently suspended steering wheel has a hub lock for connecting and disconnecting the steering wheel to a variable length drive axle which includes a universal joint at each end. One hub lock part is connected to a wheel stub shaft journalled in the wheel hub. The other part of the hub lock is connected to a skirt portion of one universal joint which slides in a counterbore of the wheel hub. A spring plunger in the other universal joint normally biases the drive axle to an extended position where the hub lock is disengaged. The hub lock is engaged by a fluid motor incorporated in the wheel hub or an external selector which retracts the drive axle. A pneumatically controlled hydraulic pressure system operates the fluid motor.

Abstract: A motor vehicle with axle pivot steering includes a rigid axle and a steering axle having swivelling wheels. The vehicle frame is made up of a first and a second frame portion each having longitudinally extending beams interconnected by transverse beams. First frame portion extends forwardly of the second frame portion and forms the front end of the frame. The second frame portion extends rearwardly of the first frame portion and forms the rear end of the frame. The longitudinal beams of the first frame portion are located inwardly of the longitudinal beams of the second frame portion and support the rigid axle and the steering axle. The rigid axle is located forwardly of the steering axle. The longitudinal beams in the front portion of the frame are at a level permitting easy access to the driver's seat.

Abstract: A unitary axle of an elongated tubular construction preferably made from heat treated steel so as to be light weight with high strength. Two embodiments of the axle each have a first vehicle mounted end and a second wheel supporting end as well as an intermediate portion having an I-beam section whose combined height and width is less than the combined height and width of the intermediate axle portion adjacent the second axle end. Upper, lower, and spaced side walls of the intermediate axle portion have a uniform thickness and the side walls are deformed inwardly to form the I-beam section preferably so as to have inner sides thereof engaged with each other. First and second bends in the axle adjacent the first and second ends thereof allow it to be used in an overlapping relationship with another bent axle. A rectangular section of the intermediate axle portion is located between the I-beam section and the second axle end.

Abstract: A vehicle supported by an air cushion comprises three wheels arranged along a longitudinal axis of a chassis.The front and rear wheels can pivot through 360.degree. and are always driven in the same direction. The center wheel has a fixed axle and is idler-mounted. A steering wheel controls the simultaneous and identical orientation of the front and rear wheels, while pedals control the lifting of the wheels in relation to the ground, according to predetermined combinations.