Adjustable diameter wheel assembly, and methods and vehicles using same
First Claim
1. A wheel assembly adjustable to provide a range of rolling diameters, the wheel assembly comprising:
- a main shaft comprising an externally threaded portion;
a first hub and a second hub located on or adjacent the main shaft, wherein either the first hub or the second hub is threadably coupled to the threaded portion of the main shaft;
at least one reconfigurable wheel member coupled to both the first hub and the second hub, the wheel member having ground contact portions that define the rolling diameter of the wheel assembly;
a selectively engageable locking apparatus operable to restrict rotation of the main shaft relative to the first hub and the second hub.
1 Assignment
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Accused Products
Abstract
A powered wheel assembly, and method and ground-engaging vehicle (e.g., a robotic vehicle) using the same, are provided. The vehicle incorporates at least one of the wheel assemblies on its chassis body. In addition to its ability to propel the vehicle across a surface, the wheel assembly is reconfigurable between a retracted configuration, wherein the wheel assembly has a first rolling diameter, and an expanded configuration, wherein the wheel assembly has a second rolling diameter greater than the first rolling diameter. A drive motor assembly may both rotate the wheel assembly, e.g., propel the vehicle across a surface, and selectively actuate the wheel assembly from the first rolling diameter to the second rolling diameter, or to any intermediate rolling diameter.
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Citations
26 Claims
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1. A wheel assembly adjustable to provide a range of rolling diameters, the wheel assembly comprising:
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a main shaft comprising an externally threaded portion;
a first hub and a second hub located on or adjacent the main shaft, wherein either the first hub or the second hub is threadably coupled to the threaded portion of the main shaft;
at least one reconfigurable wheel member coupled to both the first hub and the second hub, the wheel member having ground contact portions that define the rolling diameter of the wheel assembly;
a selectively engageable locking apparatus operable to restrict rotation of the main shaft relative to the first hub and the second hub. - View Dependent Claims (2, 3, 4)
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5. A wheel assembly with a selectively variable rolling diameter, the wheel assembly comprising:
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a main shaft comprising an externally threaded portion;
a first hub and a second hub located on or adjacent the main shaft, wherein at least one of the first hub and the second hub is threadably coupled to the threaded portion of the main shaft;
a plurality of first links each pivotally coupled to the first hub; and
a plurality of second links each pivotally coupled to both the second hub and to one of the plurality of first links, wherein ground contact portions of two or more of the plurality of first links or two or more of the plurality of second links define the rolling diameter;
wherein movement along the main shaft of the first hub relative to the second hub results in radial displacement of the ground contact portions relative to an axis of the wheel assembly.
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6. A powered wheel assembly operable to provide a selectable range of rolling diameters to a vehicle, the wheel assembly comprising:
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a main shaft comprising an externally threaded portion;
a first hub positioned for rotation about an axis of the main shaft;
a second hub threadably engaged with the externally threaded portion of the main shaft;
a plurality of first links each pivotally coupled to the first hub; and
a plurality of second links each pivotally coupled to both the second hub and to one of the plurality of first links, wherein ground contact portions of either the plurality of first links or the plurality of second links define a rolling diameter of the wheel assembly. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of varying a rolling diameter of a powered wheel assembly for use with a ground-engaging vehicle, the method comprising:
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providing a wheel assembly attached to the vehicle, the wheel assembly comprising;
a main shaft comprising an externally threaded portion;
a first hub positioned for rotation about an axis of the main shaft;
a second hub threadably engaged with the externally threaded portion of the main shaft;
a plurality of first links each pivotally coupled to the first hub; and
a plurality of second links each pivotally coupled to both the second hub and to one of the plurality of first links, wherein ground contact portions of either the plurality of first links or the plurality of second links define a rolling diameter of the wheel assembly;
selectively preventing relative rotation between the main shaft and the vehicle; and
rotating the first hub in a first direction, thereby causing the second hub to move along the threaded portion of the main shaft toward the first hub, thus repositioning the plurality of first links and the plurality of second links such that the ground contact portions move radially outward from the axis of the main shaft. - View Dependent Claims (22, 23)
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24. A robotic vehicle having an adjustable ground clearance, the vehicle comprising:
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a driving apparatus coupled to a body of the vehicle and operable to provide driving power to the vehicle;
at least one wheel assembly coupled to the body of the vehicle, the at least one wheel assembly comprising;
a main shaft comprising an externally threaded portion;
a first hub positioned for rotation about an axis of the main shaft;
a second hub threadably engaged with the externally threaded portion of the main shaft; and
at least one reconfigurable wheel member coupled to both the first hub the second hub, the wheel member having ground contact portions that define a rolling diameter of the at least one wheel assembly; and
a locking apparatus coupled to the body of the vehicle and operable to lock the main shaft relative to the body of the vehicle. - View Dependent Claims (25, 26)
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Specification