ARTICULATED WHEEL ASSEMBLIES AND VEHICLES THEREWITH
First Claim
1. A vehicle, comprising:
- a payload platform;
an offset link with a proximal end and a distal end, said offset link proximal end pivotally connected with a vertically aligned pivot axis to said payload platform, and said offset link distal end positioned a horizontal distance from said vertically aligned pivot axis;
a first extendable member with a proximal end, a distal end, a first length and a first extension motor, said first extendable member proximal end pivotally connected to said offset link distal end, wherein said first extension motor changes said first length, and wherein said first length and said vertically aligned pivot axis define a first swing angle;
a first rotating motor connected to said first extendable member and said offset link, wherein said first rotating motor rotates said first extendable member and changes said first swing angle;
a first wheel with a first central axis, said first wheel rotatably connected to said first extendable member distal end; and
a first drive motor coupled to said first wheel, wherein said first drive motor rotates said first wheel around said first wheel central axis.
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Accused Products
Abstract
The disclosed articulated wheel assemblies and associated vehicles, for example wheelchairs, include articulated wheel assemblies with at least one offset connecting arm rotatably attached at one end to a payload platform, for example a seat, and attached at the other end to a linear actuator, where the linear actuator is further connected to a wheel. Embodiments include a rotary actuator for varying the linear actuator swing angle, a rotary actuator for eccentrically rotating a hubless wheel, a linear actuator motor for varying the length of the linear actuator, and a propulsion motor. Embodiments provide omnidirectional motion, stepping action when presented with obstacles, irregular surface negotiation, tight space maneuvering and other features to provide disabled people increased mobility. Alternate embodiments include a payload platform with a support strut, which is rotatably attached to an offset connecting arm and pivotally mounted to a seat.
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Citations
20 Claims
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1. A vehicle, comprising:
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a payload platform;
an offset link with a proximal end and a distal end, said offset link proximal end pivotally connected with a vertically aligned pivot axis to said payload platform, and said offset link distal end positioned a horizontal distance from said vertically aligned pivot axis;
a first extendable member with a proximal end, a distal end, a first length and a first extension motor, said first extendable member proximal end pivotally connected to said offset link distal end, wherein said first extension motor changes said first length, and wherein said first length and said vertically aligned pivot axis define a first swing angle;
a first rotating motor connected to said first extendable member and said offset link, wherein said first rotating motor rotates said first extendable member and changes said first swing angle;
a first wheel with a first central axis, said first wheel rotatably connected to said first extendable member distal end; and
a first drive motor coupled to said first wheel, wherein said first drive motor rotates said first wheel around said first wheel central axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A wheelchair for transporting a person across a surface, comprising:
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a seat for carrying a person; and
an articulated wheel assembly, including;
an offset member with a proximal end and a distal end, said proximal end pivotally connected to said seat with a vertically aligned pivot axis, said distal end positioned a horizontal distance from said vertically aligned pivot axis;
an extendable member with a first opposing end, a second opposing end and a length, said extendable member first end connected to said offset member distal end, and said extendable member second end positioned on an opposite side of the vertical pivot axis from said offset member distal end;
an extension motor connected to said extendable member, wherein said extension motor changes said extendable member length;
a wheel connected to said extendable member second end; and
a propulsion motor connected to said wheel, wherein said propulsion motor rotates said wheel. - View Dependent Claims (14, 15, 16, 17)
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18. A wheelchair for transporting a person across a surface, comprising:
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a seat for carrying a person; and
an articulated wheel assembly, including;
an offset member with a proximal end and a distal end, said proximal end pivotally connected to said seat with a vertically aligned pivot axis, said distal end positioned a horizontal distance from said vertically aligned pivot axis;
an elongated member with a first opposing end, a second opposing end and a central axis between said first and second opposing ends, said elongated member first end connected to said offset member distal end;
a rotating motor connected to said offset member and said elongated member, wherein said rotating motor changes the angle between said vertically aligned pivot axis and said elongated member central axis;
a wheel connected to said elongated member second end; and
a propulsion motor connected to said wheel, wherein said propulsion motor rotates said wheel. - View Dependent Claims (19, 20)
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Specification