Abstract: This disclosure relates to a walking mechanism comprising a walking unit and a control unit, wherein the walking unit comprises a load frame, a mandrel is fixedly arranged on the load frame in a penetrating manner, an inner shaft sleeve sleeves the mandrel, and the inner shaft sleeve can rotate around the mandrel; at least two walking and supporting components are arranged on two sides of the load frame respectively; each walking and supporting component comprises a big gear wheel, an outer shaft sleeve and a supporting seat shaft sleeve; each big gear wheel fixedly sleeves the inner shaft sleeve, and a plurality of lock pin holes are formed in each big gear wheel; each outer shaft sleeve and the corresponding big gear wheel are arranged side by side, and each outer shaft sleeve movably sleeves the inner shaft sleeve.

Abstract: Disclosed is a cyclic mechanism for engaging or disengaging a switch with the stage of the cycle being determined by a height to which a first object is lifted relative to a second object. The mechanism has few moving parts, is inexpensive to manufacture, is reliable, can be incorporated into a wide range of devices or structures, and operates as an incident to raising or lowering a first object relative to a second.

Abstract: A wheelchair suspension comprises a frame, at least one pivot arm, at least one front caster, at least one rear caster, a stabilizing system, and a sensor. The pivot arm is coupled to the frame. The front caster is coupled to the pivot arm. The rear caster is coupled to the frame. The stabilizing system is coupled to the frame and the pivot arm. The sensor is arranged such that tipping of the frame causes actuation of the stabilizing system to at least partially resist further movement of the frame.

Abstract: A vehicle having a multiple of level compensation systems is disclosed. The vehicle comprising a chassis having a left frame, a right frame and a base plate, a first level compensation system comprising a pivot joint for pivotably connecting the left and right frames to the base plate around a common rotational axis. A first axial distance from a left rotation axis of a left wheel pair to the rotational axis is different from at least one second axial distance from a right rotation axis of a right wheel pair to the rotational axis, such that the left and right wheel pair have at least one off-set to each other. Moreover a method for traversing stairs with such vehicle is disclosed.

Abstract: A stair climbing vehicle that is able to stably climb stairs is provided. In order to keep the balance of the stair climbing vehicle at the time of climbing the stairs, the ratio between a gravity center moving control gain for the stair climbing vehicle and a turning control gain for first wheels and second wheels is changed by controlling the rotation of a first motor of each first turning actuator. Thus, it is possible to slightly turn the first wheels and the second wheels based on the posture of an occupant seated on the stair climbing vehicle when the occupant climbs the stairs with the stair climbing vehicle, thereby preventing the posture of the occupant from being unstable. Thus, the stair climbing vehicle is able to stably climb the stairs.

Abstract: The handling properties of two-wheeled trolleys may be materially improved by arranging for the freely rotatable wheels (1, 2) to be able to move to a certain extent relative to the frame or load-receiving container portions (3, 4, 5) of the trolley in a direction parallel to the direction of travel of the trolley. This can be achieved by mounting the trolley wheels (1, 2) so that they, and the axles (32) on which they are mounted for free rotation, can, preferably independently, swivel about a horizontal axis displaced from (and lower than) the level at which the wheels are mounted on their respective axles. The wheels are preferably set at a high positive camber angle. Letting the wheels swivel materially improves handling on rough terrain. The trolley is preferably foldable to save space when being transported or stored.

Abstract: A gear system to assist with transportation on uneven ground and stairs comprising three or more axle systems with outer gears that all mesh with inner gears so that the axle systems, which are supported at either end by a triangle bracket secured by bushings, turn in the same direction. When attached to a vehicle traveling on a flat surface, the gear system has one axle system in the air and two axle systems on the ground, forming a triangle. When the vehicle drives forward, if the axle system on the ground in the front encounters any unevenness, such as rocks or stairs, the entire gear system will rotate toward the front around the axle that is through the inner gear, as the vehicle continues to move forward throughout the rotation. This prevents any uneasy movements and allows the vehicle to fluidly traverse uneven ground or climb stairs.

Abstract: A method of negotiating an obstacle including driving an articulated vehicle along a drive direction over a surface, driving the articulated vehicle to approach an obstacle with a rearward portion of the articulated vehicle, pivoting arms of the vehicle from a stowed position next to a main frame of the vehicle downward and away from the main frame, raising and supporting the main frame on the arms, positioning at least a portion of the main frame substantially against the obstacle, and driving onto the obstacle.

Abstract: A stair climbing wheel and vehicles are described. The stair climbing wheel has a rolling wheel and a plurality of deployable protrusions that allow the wheel to climb stairs. The deployable protrusions can be deployed from or retracted into the rolling wheel. In the retracted position, the stair climbing wheel functions as a traditional circular wheel. These stair climbing wheels can be incorporated on a wide variety of vehicles, such as hand trucks, wheelchairs, and personal transports to allow these vehicles to climb stairs.

Abstract: A vehicle having a multiple of level compensation systems is disclosed. The vehicle comprising a chassis having a left frame, a right frame and a base plate, a first level compensation system comprising a pivot joint for pivotably connecting the left and right frames to the base plate around a common rotational axis. A first axial distance from a left rotation axis of a left wheel pair to the rotational axis is different from at least one second axial distance from a right rotation axis of a right wheel pair to the rotational axis, such that the left and right wheel pair have at least one off-set to each other. Moreover a method for traversing stairs with such vehicle is disclosed.

Abstract: A vehicle having a multiple of level compensation systems is disclosed. The vehicle comprising a chassis having a left frame, a right frame and a base plate, a first level compensation system comprising a pivot joint for pivotably connecting the left and right frames to the base plate around a common rotational axis. A first axial distance from a left rotation axis of a left wheel pair to the rotational axis is different from at least one second axial distance from a right rotation axis of a right wheel pair to the rotational axis, such that the left and right wheel pair have at least one off-set to each other. Moreover a method for traversing stairs with such vehicle is disclosed.

Abstract: A step climbing attachment suitable for attachment to a wheeled chair is described. The step climbing attachment includes a chassis for mounting one or more ground engaging units, a first and a second ground engaging unit mounted to the chassis, at least one of the first and second ground engaging units adapted to move relative to the other of the first or second ground engaging units and the chassis, the relative movement being between a ground engaging position and a step-engaging support position so that in use at least one of the first and/or second ground engaging units engages a step.

Abstract: A mobile apparatus has a first articulating section comprising a leading traction control assembly including multiple points of contact inclined at a forward angle, and a second articulating section comprising an intermediate traction control assembly. A propulsion system is configured to coordinate movement of the leading traction control assembly and the intermediate traction control assembly. A connector operatively couples the first articulating section to the second articulating section, and the first articulating section is configured to articulate relative to the second articulating section in response to one or more of the multiple points of contact of the leading traction control assembly coming into contact with an obstacle. A bias assembly is configured to exert a continuous compression force against one or both of the first articulating section and the second articulating section to maximize the number of points of contact between the mobile apparatus and the obstacle.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

Abstract: A terrain traversing device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface.

Abstract: A vehicle having a multiple of level compensation systems is disclosed. The vehicle comprising a chassis having a left frame, a right frame and a base plate, a first level compensation system comprising a pivot joint for pivotably connecting the left and right frames to the base plate around a common rotational axis. A first axial distance from a left rotation axis of a left wheel pair to the rotational axis is different from at least one second axial distance from a right rotation axis of a right wheel pair to the rotational axis, such that the left and right wheel pair have at least one off-set to each other. Moreover a method for traversing stairs with such vehicle is disclosed.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A cart that can be used as a hand truck for carrying heavy loads up and down a staircase is disclosed. The design has means for accommodating in any size of staircase steps and the small compact dimensions of the cart make it useful for around the corner maneuvering. The cart is divided into two parts that separates while doing the movements to step up or down thru the stairways then it unites together to repeat the cycle. Square rods on the side's holds and support the two parts of the cart and give strength to hold the heavy loads. It uses expansions springs to hold the two parts of the cart and it used to repeat the movements as its stretches away and snaps together.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: Attachments for a manual wheelchair are provided for navigating a wheelchair over obstacles and uneven terrain, such as a typical curb on a street. The attachments provide for regulating the movement of the wheelchair as the wheelchair descends the curb and to prevent the wheelchair from flipping over during such movement. The attachments include a front caster wheel slider assembly on each side of the wheelchair, a follower wheel assembly and a track belt damping bar. The front caster wheel slider assembly includes a piston that will quickly push the front caster wheels down after they roll over the top edge of the curb. The follower wheel assembly acts as a sensor that will release the piston in the assembly after the front caster wheels roll over the top edge of the curb. As the back wheels of the wheelchair roll over and down the curb, the track belt damping bar slows the descent of the wheelchair.

Abstract: A multi-legged walking device includes a crankshaft, a plurality of linkage bar mechanisms, a support member, and a driving device. The crankshaft includes a plurality of main journals and crankpin journals. The plurality of linkage bar mechanisms is spaced from and substantially parallel to each other. The linkage bar mechanisms include a plurality of frames. Each frame is rotatably connected to one of the plurality of main journals. Each linkage bar mechanism includes a connecting bar, a first rocker, a second rocker, and a leg. Two ends of the connecting bar are rotatably connected to one of the crankpin journals and the leg. Two ends of the first rocker are rotatably connected to one of the plurality of frames and the leg. Two ends of the second rocker are rotatably connected to one of the plurality of frames and the connecting bar. The support member is fixed to the frames.

Abstract: A caster wheel arrangement includes a base; a yoke rotatably mounted to the base via a kingpin; at least a first caster wheel rotatably mounted to the yoke; and an assist arrangement moveably mounted to the yoke. The assist arrangement facilitates travel of the caster wheel arrangement over a surface transition (e.g., a gap, a rise, etc.). Non-limiting example assist arrangements include a leading wheel, a leading variable radius wheel, a trailing wheel, a step member, and combinations thereof.

Abstract: The present invention relates to a wheel suspension for mounting on a frame (3) of a vehicle, which, in its direction of propulsion, is arranged to be able to scale an obstacle (7), the wheel suspension (1) comprises a link element (9) arranged rotatably about a rotation point (R), to which rotation point (R), via the frame (3), can be applied a force (Gx) for propulsion, the link element (9) comprises a first and a second wheel axle (11, 13), the second wheel axle (13) serves as a moment axis (X) about which the link element (9) tends to rotate when a force (F) is applied to the first wheel axle (11) in the direction opposite to the direction of travel. The link element (9) acts as a lever arm by virtue of the rotation point (R) being situated at a distance from an imaginary straight line (L) intersecting the first and the second wheel axle (11, 13) and in a plane transversely to the extent of the moment axis (X).

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: The present invention discloses a barrier-overpassing transporter, which comprises: a support frame carrying a rider or another load; a sensing/adjusting module detecting a tilting state of the support frame and maintaining the support frame in a horizontal state; a ground contact module arranged below the support frame supporting an effective load and lifting the support frame to overpass a surface of a barrier; and a wireless transceiver module collecting and transmitting information to enable adjustments and activities responding to interior states of the transporter. Thereby, the present invention can provide a safe, stable, reliable, comfortable, convenient and low-cost barrier-overpassing transporter.

Abstract: Attachments for a manual wheelchair are provided for navigating a wheelchair over obstacles and uneven terrain, such as a typical curb on a street. The attachments provide for regulating the movement of the wheelchair as the wheelchair descends the curb and to prevent the wheelchair from flipping over during such movement. The attachments include a front caster wheel slider assembly on each side of the wheelchair, a follower wheel assembly and a track belt damping bar. The front caster wheel slider assembly includes a piston that will quickly push the front caster wheels down after they roll over the top edge of the curb. The follower wheel assembly acts as a sensor that will release the piston in the assembly after the front caster wheels roll over the top edge of the curb. As the back wheels of the wheelchair roll over and down the curb, the track belt damping bar slows the descent of the wheelchair.

Abstract: The transportation apparatus includes a frame a seat portion which slides on the frame. A leg support pivots about the seat portion. At least one middle leg and at least one rear leg depends downwardly from the seat portion. At least one middle wheel is connected to the middle leg and at least one rear wheel is connected to the rear leg. The middle wheel and rear wheel define a middle and rear rotation axes, respectively. At least one front wheel is connected to the leg support. The middle leg is movable to adjust the vertical position of the middle wheel, and the rear leg is movable to adjust the vertical position of the rear wheel.

Abstract: A wheeled vehicle comprising a power-driven spider assembly for ascending and descending stairs. The vehicle includes an angular position sensor providing input to a controller operable to control a servo-motor to effectively lock the position of the spider relative to the frame, regardless of the hand truck's spatial orientation relative to a vertical plane, or any balancing of the hand truck. The angular position sensor provides input to the controller, which is programmed with predefined angular zones of instability, and causes the controller to accelerate rotation of the spiders through those zones when the wheeled vehicle is in the descent mode, to avoid instability of the hand truck. A hand truck may include a removable basket and/or a pivotable platform usable to transport loads.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

Abstract: The present invention relates to a walking aid adapted for mounting a height obstacle. The walking aid comprises a frame with a front and a back, and at least two rear wheels and at least one front wheel. The front wheel is supported by a front wheel carrier which is moveably connected to the frame for supporting the at least one front wheel such that it is moveable with respect to the frame between a lower forward position for supporting the frame on the surface and a higher backward position. The walking aid further comprises at least one temporarily forward support member provided at the front of the frame for supporting the frame on the surface when the at least one front wheel is in the higher backward position, which temporarily support member is connected to the frame such that the underside of the temporarily support member is at a distance from the support surface when the frame is supported by the at least one front wheel in the forward position.

Abstract: A variable configuration articulated tracked vehicle comprises a chassis, a pair of right and left drive pulleys, a right and left planetary wheel, a right and left track, a right and left arm mechanism, and a right and left drive motor. The drive pulleys are rotatably attached to the chassis and each pair of drive pulleys is in the same plane. The planetary wheels are movable relative to the chassis such that each planetary wheel is in the same plane as its respective drive pulleys. The tracks extend around the pair of drive pulleys and the planetary wheel on the respective sides. The arm mechanisms connect the respective planetary wheel to the chassis. Each arm mechanism is rotatably attached to the chassis with a cam. The cam defines a motion path of one end of the arm whereby the motion of the planetary wheel provides a path for the planetary wheel such that the track path defined by the respective drive pulleys and the planetary wheel is a constant track length.

Abstract: The present invention relates to a wheel suspension for mounting on a frame (3) of a vehicle, which, in its direction of propulsion, is arranged to be able to scale an obstacle (7), the wheel suspension (1) comprises a link element (9) arranged rotatably about a rotation point (R), to which rotation point (R), via the frame (3), can be applied a force (Gx) for propulsion, the link element (9) comprises a first and a second wheel axle (11, 13), the second wheel axle (13) serves as a moment axis (X) about which the link element (9) tends to rotate when a force (F) is applied to the first wheel axle (11) in the direction opposite to the direction of travel. The link element (9) acts as a lever arm by virtue of the rotation point (R) being situated at a distance from an imaginary straight line (L) intersecting the first and the second wheel axle (11, 13) and in a plane transversely to the extent of the moment axis (X).

Abstract: A wheelchair includes a pivoting drive assembly having a drive wheel, a motor drive connected to the drive wheel, and a first pivoting linkage fixedly attached to the motor drive. The pivoting drive assembly is pivotally coupled to a frame at a first frame pivot axis such that the drive wheel, motor drive, and first pivoting linkage pivot about the first frame pivot axis as a unit. The wheelchair further includes a second pivoting linkage and a front caster assembly. The second pivoting linkage is pivotally coupled to the frame at a second frame pivot axis. The first pivoting linkage is pivotally coupled to the front caster assembly at a first front caster pivot axis and the second pivoting linkage is pivotally coupled to the front caster assembly at a second front caster pivot axis.

Abstract: The present invention discloses a barrier-overpassing transporter, which comprises: a support frame carrying a rider or another load; a sensing/adjusting module detecting a tilting state of the support frame and maintaining the support frame in a horizontal state; a ground contact module arranged below the support frame supporting an effective load and lifting the support frame to overpass a surface of a barrier; and a wireless transceiver module collecting and transmitting information to enable adjustments and activities responding to interior states of the transporter. Thereby, the present invention can provide a safe, stable, reliable, comfortable, convenient and low-cost barrier-overpassing transporter.

Abstract: A vehicle for carrying object can overcome stairs and special geography. Rotators having wheels with of without auxiliary wheel are used. Various combinations of rotators and auxiliary wheel are possible.

Abstract: A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

Abstract: A conveying apparatus capable of ascending or descending stairways and carrying goods consists of a frame, a transmission mechanism and a driving mechanism located on a lower section of the frame. The transmission mechanism includes a planetary gear set and is with two degrees of freedom. When moving on the floor, the driving mechanism may drive a driving wheel in the transmission mechanism to deliver output of the conveying apparatus based on floor conditions, thereby to ascend or descend the stairways, or moving on the plain floor.

Abstract: A safety mechanism for a personal vehicle that provides for separation of the motion of a body support from a ground contacting assembly of the vehicle in case of accident. In one embodiment, the body support is attached to the ground contacting module via a slide mechanism that permits the body support to continue upright motion despite overturning of the ground contacting assembly in order to prevent injury to the passenger. Another embodiment provides for coupling of the body support or the ground contacting assembly via either a real or virtual pivot located above the respective centers of mass of the body support and ground contacting assembly.

Abstract: A sack trolley (1) comprises a support frame (2) presenting a lower pair of carrying wheels (4) and a hoist mechanism (6) for climbing steps, which comprises a lifting arm (10) equipped with support rollers at its free end and which can be swivelled about a swivelling axis (S) parallel to the carrying wheel axis (L) by means of a crank drive (8). In order to achieve step-climbing assistance which is simple, space-saving, easy to handle and functionally safe, the lifting arm (10) is comprised of a swing guide component (11) swivel-mounted about the swivel axis (S) and a support component (12) taking up the support rollers (13) and longitudinally displaceable compared to the swivel guide component (11), whereby the crank drive (8) is articulated on the support component (12) with its crank arm (9).

Abstract: A safety device for stairway elevator systems (10) used for transporting apparatus and goods, especially wheelchairs (9) with persons who are unable to walk. The device is characterized in that the stairway elevator (10) or wheelchair (9) is fitted with a mounting device (20) equipped with a rotation pin (21). A support bracket (30) is mounted on the rotation pin (21) and a braking and blocking device (40) is attached to both the support bracket (30) and mounting device (20). A sensor (70) controls the braking and blocking device (40) in such a way that it blocks the support bracket (30) as soon as the stairway elevator (10) is at risk of tipping over and down the stairs (1) and releases the support bracket (30) when the stairway elevator (10) is placed at a correct angle to the stairs(1).