Concentric shaft mobile base for robots and the like

• US 4,657,104 A
• Filed: 03/27/1985
• Issued: 04/14/1987
• Est. Priority Date: 07/23/1983
• Status: Expired due to Term

• Current Assignee: Crestar Bank Incorporated (Truist Financial Corp.)
• Original Assignee: Cybermation, Inc. (Broadcom, Inc.)
• Inventors: Holland, John M.
• Primary Examiner(s): Mitchell, David M.
• Assistant Examiner(s): McGiehan, Donn
• Application Number:
  US06/716,671
• Time in Patent Office: 748 Days
• Field of Search: 180/252, 180/253, 180/255, 180/261, 180/267, 180/209, 180/210, 180/211, 180/212, 180/6.48
• US Class Current: 180/211
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B60B 33/0039 Single wheels
• CPC Class Codes: B60B 33/0049 the rolling axle being horizontal
• CPC Class Codes: B60B 33/0055 the rolling axle intersects swivel axis
• CPC Class Codes: B60B 33/0057 the rolling axle being offset from swivel axis
• CPC Class Codes: B60B 33/0068 the swivel axis being vertical
• CPC Class Codes: B60B 33/06 mounted retractably
• CPC Class Codes: B62D 61/06 with only three wheels

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.

Claims

1. A mobile base for movement on a surface comprising:

A. a plurality of leg assemblies, each leg assembly including,

1. a pivotable wheel assembly, the wheel assembly including,

a. a wheel having an axle extending therefrom,

b. a first gear mounted to the axle so as to impart axial rotation thereto,

c. a second gear meshed with the first gear so as to impart rotation to the first gear,

d. a shaft having one end connected to the second gear for rotation thereof,

e. a third gear connected to the second end of the shaft,

f. an outer housing positioned about the shaft and the axle so that pivoting the housing causes simultaneous pivoting of the wheel, and

g. a steering gear secured to the housing for controlling the pivotal orientation of the wheel assembly, and

2. a leg assembly comprising,

a. a second drive shaft,

b. a first steering shaft concentrically positioned about the second drive shaft,

c. gears mounted at each end of the second drive shaft and the second steering shaft with the gear at a first end of the second drive shaft meshed with the third gear of the wheel assembly and the gear at the first end of the first steering shaft meshed with the steering gear of the wheel assembly housing;

B. a universal driving and steering assembly comprising

1. a third drive shaft having a drive gear mounted thereon for simultaneous engagement with the drive gear on the second end of the second drive shaft of each leg assembly, and

2. a second steering shaft having a steering gear mounted thereon for simultaneous engagement with the steering gear on the second end of the first steering shaft of each leg assembly;

C. first means for powering the third drive shaft; and

D. second means for powering the second steering shaft;

whereby simultaneous steering and/or axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein the transfer of power from the drive and steering means to the wheel and wheel assembly of each leg assembly is achieved through the use of concentric shafts.

2. A mobile base as defined in claim 1 further comprising means mounted about the concentric shafts so as to enclose the concentric shafts and gears connected thereto.

3. A mobile base as defined in claim 2 wherein the first and second power means are electrical motors with associated gear reducers mechanically interconnected to the third drive shaft and second steering shaft, respectively.

19. A mobile base as defined in claim 1 wherein the first, second, and third gears of the pivotable wheel assembly, the gears of the leg assembly, and the drive gear and steering gear of the universal driving and steering assembly are slotted and wherein the associated shaft or axle to which each of said gears is attached further includes a keyway for engagement with said slots;

whereby said gears are able to impart axial rotation to the respective axle or shaft while not being longitudinally fixed to the respective axle or shaft, thereby minimizing tolerance buildup for the interconnection of gears.

26. A mobile base as defined in claim 19 further comprising means mounted about the drive and steering shafts of each arm assembly so as to enclose these concentric shafts.

33. A mobile base as defined in claim 26 further comprising a turret rotatably mounted above the arm assemblies and means associated with the second means of the universal driving and steering assembly so that turning of the wheel assemblies causes similar turning of the turret.

36. A mobile base as defined in claim 19 further comprising a turret rotatably mounted above the arm assemblies and means associated with the second means of the universal driving and steering assembly so that turning of the wheel assemblies causes similar turning of the turret.

37. A mobile base as defined in claim 19 wherein the plurality of leg assemblies is equal to 3.

41. A mobile base as defined in claim 33 wherein the means for powering the universal drive and steering assembly comprises first and second electric motors and associated gear reducers, each gear reducer having an output gear and further wherein the universal driving and steering assembly comprises a fourth drive shaft having proximal and distal ends with a first gear mounted at its distal end for engagement with the proximal end of each third drive shaft and a second gear mounted on the proximal end of the fourth drive shaft for engagement with the output gear of the drive motor gear reducer and further wherein the universal driving and steering assembly comprises a fourth steering shaft having proximal and distal ends with a first gear mounted at its distal end for engagement with the proximal end of each third steering shaft and a second gear mounted on the proximal end of the fourth steering shaft for engagement with the output gear of the steering motor gear reducer.

44. A mobile base as defined in claim 36 further comprising a block mounted to the endless chain so as to cause the microswitches to open and close.

45. A mobile base as defined in claim 37 wherein the means for imparting axial rotation to the wheels of each wheel assembly comprises an axle connected to the wheel so as to project therefrom, a first gear mounted to the projection of the axle so as to impart axial rotation thereto, a second gear meshed with the first gear so as to impart rotation to the first gear, a wheel assembly shaft having one end connected to the second gear for rotation thereof, and a third gear connected to the second end of the wheel assembly shaft;

wherein the means for pivoting the wheel comprises an outer housing positioned about the wheel assembly shaft and the axle so that pivoting the wheel assembly causes simultaneous pivoting of the wheel, and a steering gear secured to the housing for controlling the pivotal orientation of the wheel assembly; and

wherein each first longitudinal leg member drive shaft and steering shaft each have a gear mounted on their respective first ends for engaging with the respective third gear and the steering gear of the pivotal wheel assembly.

56. A mobile base as defined in claim 44 wherein the means for changing the position of the central gear of each planetary gear assembly comprises a worm gear for turning each central gear and a motor for rotating the worm gear.

57. A mobile base as defined in claim 44 wherein the means for imparting axial rotation to the wheels of each wheel assembly comprises an axial connected to the wheel so as to project therefrom, a first gear mounted to the projection of the axle so as to impart axial rotation thereto, a second gear meshed with the first gear so as to impart rotation to the first gear, a wheel assembly shaft having one end connected to the second gear for rotation thereof, and a third gear connected to the second end of the wheel assembly shaft;

wherein the means for pivoting the wheel comprises an outer housing positioned about the wheel assembly shaft and the axle so that pivoting the wheel assembly causes simultaneous pivoting of the wheel, and a steering gear secured to the housing for controlling the pivotal orientation of the wheel assembly; and

wherein each first longitudinal leg member drive shaft and steering shaft each have a gear mounted on their respective first ends for engaging with the respective third gear and the steering gear of the pivotal wheel assembly.

4. A mobile base for movement about a surface, comprising:

A. a plurality of extensible leg assemblies, each leg assembly including,

1. a wheel

a. a wheel having an axle extending therefrom,

b. a steering gear connected to the wheel assembly so as to turn the axle with respect to the surface upon which the mobile base is mounted, and

c. means for axially rotating the axle upon which the wheel is mounted including a first gear mounted to the axle, a second gear meshed with the first gear, a first drive shaft connected to the second gear at one end of the first drive shaft, and a third gear mounted to the first drive shaft;

7. A mobile base as defined in claim 4 wherein the means connected to each leg pivoting gear comprises a motor and associated gear reducer, the gear reducer having an output gear, and further comprises an endless chain connected about the output gear and each leg pivoting gear so as to simultaneously pivotally retract each first leg member by moving the chain in a first direction and to simultaneously pivotally extend each first leg member by moving the chain in a second direction.

10. A mobile base as defined in claim 7 wherein the predetermined positions are when the first leg members reach retraction limits in either the counter-clockwise or clockwise directions.

16. A mobile base as defined in claim 10 wherein the means for extending and retracting of the leg assemblies comprises,

A. means for coupling to the output of the steering motor for receiving power therefrom,

B. a clutch removably engageable with the power receiving means, and

C. means connected to the output of the clutch for transferring rotational movement when the clutch is in the engaged position to each of the leg assemblies via an endless loop chain connecting the three leg assemblies to said gear.

18. A mobile base as defined in claim 10 wherein the means for changing the position of the central gear of each planetary gear assembly comprises a worm gear for turning each central gear and a motor for rotating the worm gear.

22. A mobile base as defined in claim 4 wherein the axles, drive shafts and steering shafts further incorporate keyways and wherein the corresponding gears mounted on said axles and shafts incorporate slotted regions for engagement with said keyways;

whereby said gears are able to impart axial rotation to the respective axle or shaft while not being longitudinally fixed to the respective axle or shaft, thereby minimizing tolerance buildup for the interconnection of gears.

23. A mobile base as defined in claim 10 wherein the axles, drive shafts and steering shafts further incorporate keyways and wherein the corresponding gears mounted on said axles and shafts incorporate slotted regions for engagement with said keyways;

whereby said gears are able to impart axial rotation of the respective axle or shaft while not being longitudinally fixed to the respective axle or shaft, thereby minimizing tolerance buildup for the interconnection of gears.

29. A mobile base as defined in claim 22 wherein the means for imparting axial rotation the wheels of each wheel assembly comprises an axle connected to the wheel so as to project therefrom, a first gear mounted to the projection of the axle so as to impart axial rotation thereto, a second gear meshed with the first gear so as to impart rotation to the first gear, a wheel assembly shaft having one end connected to the second gear for rotation thereof, and a third gear connected to the second end of the wheel assembly shaft;

wherein the means for pivoting the wheel comprises an outer housing positioned about the wheel assembly shaft and the axle so that pivoting the wheel assembly causes simultaneous pivoting of the wheel, and a steering gear secured to the housing for controlling the pivotal orientation of the wheel assembly; and

wherein each arm assembly drive shaft and steering shaft each have a gear mounted on their respective first ends for engaging with the respective third gear and the steering gear of the pivotal wheel assembly.

30. A mobile base as defined in claim 23 wherein the first, second, and third gears of the wheel assembly, the gears of the arm assembly, and the drive gear and steering gear of the universal driving and steering assembly are slotted and wherein the associated shaft or axle to which each of said gears is attached further includes a keyway for engagement with said slots;

whereby said gears are able to impart axial rotation to the respective axle or shaft while not being longitudinally fixed to the respective axle or shaft, thereby minimizing tolerance buildup for the interconnection of gears.

35. A mobile base as defined in claim 23 wherein each wheel has a radius (r);

wherein the first gear of the wheel assembly has a plurality of teeth, N1, facing toward the wheel connected to the axle, where N1 is an integer;

wherein the second gear of the wheel assembly has a plurality of teeth, N2, where N2 is an integer, and wherein the second gear defines a wheel pivot radius (r'"'"') for the wheel as the distance between the center of the second gear and the wheel perimeter that contacts the surface upon which the mobile base moves;

wherein the ratio of the teeth of the second gear to the teeth of the first gear (i.e., N2/N1) is substantially the same as the ratio of the wheel pivot radius to the wheel radius (i.e., N2/N1 =r'"'"'/r);

whereby simultaneous steering and axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein steering of the wheel assemblies can be achieved without translation of the wheel assemblies while allowing the wheels to rotate about their axes without slippage.

43. A mobile base as defined in claim 35 wherein the predetermined positions are when the first longitudinal leg members reach retraction limits in either the counterclockwise or clockwise directions.

55. A mobile base as defined in claim 43 in which the value of N is equal to three.

5. a first longitudinal leg member having,

a. a distal end pivotally mounted to the wheel assembly,

b. a second drive shaft having gears mounted at each end, the gear at the distal end mechanically engaged with the third gear of the wheel assembly,

c. a first steering shaft concentrically mounted about the second drive shaft, the first steering shaft having gears mounted at each end, the gear at the distal end mechanically engaged with the steering gear of the wheel assembly, and

d. a first housing enclosing at least a portion of the first steering shaft;

3. a vertically oriented member comprising,

a. a third drive shaft having gears mounted at each end, the gear at its depending end mechanically engaged with the gear at the proximal end of the second drive shaft,

b. a second steering shaft concentrically mounted about the third drive shaft, the second steering shaft having gears mounted at each end, the gear at its distal end mechanically engaged with the gear at the proximal end of the first steering shaft,

c. a second housing enclosing at least a portion of the second steering shaft, the housing having a first portion pivotable about the second portion, the first portion of the housing connected to the first housing, and

d. a leg pivoting gear mounted to the first portion of the second housing so as to control the pivoting of said portion;

4. a second longitudinal leg member comprising,

a. a fourth drive shaft having gears mounted at each end thereof, the gear mounted at the distal end of the fourth drive shaft mechanically connected to the gear mounted at the proximal end of the third drive shaft,

b. a third steering shaft concentrically mounted about the fourth drive shaft, the third steering shaft having gears mounted at each end, the gear mounted at the distal end of the third steering shaft mechanically engaged to the gear mounted at the proximal end of the second steering shaft;

B. a universal driving and steering assembly comprising,

8. A mobile base as defined in claim 5 wherein the steering means and the drive means each comprise electric motors and associated gear reducers, each gear reducer having an output gear and wherein the fifth drive shaft has a second gear mounted thereon for mechanical engagement with the output gear of the drive motor gear reducer and wherein the fourth steering shaft has a second gear mounted thereon for mechanical engagement with the output gear of the steering motor gear reducer.

11. A mobile base as defined in claim 8, further comprising a block mounted to the endless chain so as to cause the microswitches to open and close.

17. A mobile base as defined in claim 11 in which the value of N is equal to three.

6. a fifth drive shaft having a gear mounted thereon for mechanically engaging with each gear mounted at the proximal end of each fourth drive shaft,a fourth steering shaft having a gear mounted at its distal end for mechanically engaging with each gear mounted at the proximal end of each third steering shaft;

C. means mechanically coupled to the universal drive and steering assembly so as to power the fifth drive shaft;

D. means mechanically coupled to the universal drive and steering assembly so as to power the fourth steering shaft; and

E. means connected about each leg pivoting gear for controllably rotating the first leg member of each leg assembly;

whereby simultaneous steering of each wheel assembly and axial rotation of each wheel is achieved and whereby the leg assemblies can be pivoted outward to increase the zone of stability of the mobile base and pivoted inward to allow the mobile base to pass through narrow passageways and whereby concentric shafts transfer drive and steering power from the drive and steering means to the wheel and wheel assembly, respectively, of each leg assembly.

9. A mobile base as defined in claim 6 wherein the universal driving and steering assembly further comprises a housing mounted about the fifth drive shaft and fourth steering shaft and wherein the drive means, steering means and retraction means are referenced to this housing and further wherein a pair of microswitches are mechanically referenced to this housing so as to be alternatively activated when the first leg members reach predetermined positions.

12. A mobile base for movement about a surface, comprising:

A. N wheel assemblies, where N is an integer greater than 2, each wheel assembly including,

1. a wheel having an axle extending therefrom,

2. a sterring gear connected to the wheel assembly so as to turn the axle with respect to the surface upon which the mobile base is mounted, and

3. means for axially rotating the axle upon which the wheel is mounted including a first gear mounted to the axle, a second gear meshed with the first gear, a first drive shaft connected to the second gear at one end of the first drive shaft, and a third gear mounted to the first drive shaft;

B. N extensible leg assemblies each having a distal wheel assembly end for pivotal interconnecting to a respective wheel assembly, each leg assembly including,

13. a first longitudinal leg member having,

a. a distal end for pivotally mounting to the wheel assembly,

b. a second drive shaft having gears mounted at each end, the gear at the distal end mechanically engaged with the third gear of the wheel assembly,

c. a first steering shaft concentrically mounted about the second drive shaft, the first steering shaft having gears mounted at each end, the gear at the distal end for mechancially engaging with the steering gear of the wheel assembly, and

d. a first housing enclosing at least a portion of the first steering shaft;

14. a vertically oriented member comprising,

a. a third device shaft having gears mounted at each end, the gear at its depending end mechanically engaged with the gear at the proximal end of the second drive shaft,

b. a second steering shaft concentrically mounted about the third drive shaft, the second steering shaft having gears mounted at each end, the gear at its distal end mechanically engaged with the gear at the proximal end fo the first steering shaft,

c. a second housing having first and second pivotal portions enclosing at least a portion of the second steering shaft, the first portion of the housing connected to the first housing, and

d. a leg pivoting gear mounted to the first portion of the second housing so as to control the pivoting of said portion;

3. a second longitudinal leg member comprising,

a. a fourth drive shaft having gears mounted at each end, the gear mounted at its distal end mechanically connected to the gear mounted on the proximal end of the third drive shaft,

b. a third steering shaft concentrically mounted about a portion of the fourth drive shaft, having gears mounted at each end, the gear mounted at its distal end mechanically engaged with the gear mounted on the proximal end of the second steering shaft,

c. for N-1 of the leg assemblies, a fourth steering shaft concentrically mounted about the proximal end of the fourth drive shaft, having a gear mounted about its proximal end;

d. for said N-1 of the leg assemblies, a planetary gear assembly having,

20. A mobile base as defined in claim 14 further comprising C-rings mounted to the ends of the first and second drive shafts and to the third drive shaft, and wherein the second and third gears of the pivotable wheel assembly, the gears mounted at each end of the second drive shaft, and the drive gear mounted to the third drive shaft are longitudinally captured on said shafts by said C-rings.

27. A mobile base as defined in claim 20 wherein the powering means comprise at least one electrical motor and an associated gear reducer mechanically interconnected to the first means of the universal driving and steering assembly and one electrical motor and an associated gear reducer mechanically interconnected to the second means of the universal driving and steering assembly.

34. A mobile base as defined in claim 27 wherein each wheel has a radius (r);

wherein the first gear of the wheel assembly has a plurality of teeth, N1, facing toward the wheel connected to the axle, where N1 is an integer;

wherein the second gear of the wheel assembly has a plurality of teeth, N2, where N2 is an integer, and wherein the second gear defines a wheel pivot radius (r'"'"') for the wheel as the distance between the center of the second gear and the wheel perimeter that contacts the surface upon which the mobile base moves;

wherein the ratio of the teeth of the second gear to the teeth of the first gear (i.e., N2, N1) is substantially the same as the ratio of the wheel pivot radius to the wheel radius (i.e., N2/N1 =r'"'"'/r);

whereby simultaneous steering and axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein steering of the wheel assemblies can be achieved without translation of the wheel assemblies while allowing the wheels to rotate about their axes without slippage.

42. A mobile base as defined in claim 34 wherein the universal driving and steering assembly further comprises a housing mounted about the fourth drive shaft and fourth steering shaft and wherein the means for powering the means for pivoting the first longitudinal leg members is referenced to this housing and further wherein a pair of microswitches are mechanically referenced to this housing so as to be alternatively activated when the first longitudinal leg members reach predetermined positions.

54. A mobile base as defined in claim 42 wherein the means for controlling pivoting of the vertically oriented member comprises,

A. means for coupling to the output of the steering powering means;

B. a clutch removably engaged with the coupled output from the steering powering means;

C. an endless loop chain mounted about each vertically oriented member; and

D. means connected to the output of the clutch and to the endless chain for moving the endless chain when the clutch is in the engaged position so as to pivot each vertically oriented member.

59. A mobile base as defined in claim 42 wherein the means for imparting axial rotation to the wheels of each wheel assembly comprises an axle connected to the wheel so as to project therefrom, a first gear mounted to the projection of the axle so as to impart axial rotation thereto, a second gear meshed with the first gear so as to impart rotation to the first gear, a wheel assembly shaft having one end connected to the second gear for rotation thereof, and a third gear connected to the second end of the wheel assembly shaft;

wherein the means for pivoting the wheel comprises an outer housing positioned about the wheel assembly shaft and the axle so that pivoting the wheel assembly causes simultaneous pivoting of the wheel, and a steering gear secured to the housing for controlling the pivotal orientation fo the wheel assembly; and

wherein each first longitudinal leg member drive shaft and steering shaft each have a gear mounted on their respective first ends for engaging with the respective third gear and the steering gear of the pivotal wheel assembly.

15. an output gear connected to the proximal end of the third steering shaft,an input gear connected to the distal end of the fourth steering shaft,a central gear mechanically engaged with both the input and output gear of the planetary gear assembly,means for positioning the central gear axially about the third drive shaft while engaged with the input and output gears of the planetary gear assembly so as to impart steering motion to the associated wheel assembly when the fourth steering shaft is maintained in a stationary position;

and

5. means connected to the means for changing the position of the central gear of the planetary gear assembly so as to simultaneously move the central gear of each planetary gear assembly so as to impart steering movement to the wheel assembly associated with each such extensible leg assembly;

C. a universal driving and steering assembly comprising,

1. a fifth drive shaft having a gear mounted thereon for mechanically engaging with each gear mounted at the proximal end of each fourth drive shaft,

2. a fifth steering shaft having a gear mounted at its distal end for mechanically engaging with each gear mounted at the proximal end of each fourth steering shaft for said N-1 leg assemblies and the gear mounted at the proximal end of the third steering shaft for the Nth leg assembly;

D. means mechanically coupled to the universal drive and steering assembly so as to power the fifth drive shaft;

E. means mechanically coupled to the universal drive and steering assembly so as to power the fifth steering shaft; and

F. means connected about each leg pivoting gear for controllably rotating the first longitudinal leg member of each leg assembly;

whereby simultaneous turning and axial rotation of each wheel is achieved and whereby the leg assemblies can be pivoted outward to increase the zone of stability of the mobile base and pivoted inward to allow the mobile base to pass through narrow passageways, whereby concentric shafts transfer drive and steering power from the drive and steering means to the wheel and wheel assembly, respectively, for each leg assembly; and

further wherein retraction and extension of the leg assemblies can be achieved without wheel pirouetting.

21. A mobile base as defined in claim 15 further comprising bearings mounted between adjacent gears connected to the drive and steering shafts so that longitudinal movement of each gear on each steering shaft is restrained by the adjacent gear on the corresponding drive shaft.

28. A mobile base as defined in claim 21 wherein each drive shaft has a gear mounted on its second end and wherein each steering shaft has a gear mounted on its second end and further wherein the first means of the universal driving and steering assembly comprises a second drive shaft and a gear mounted at one end thereof in engagement with the gears mounted on the second end of each arm assembly drive sheet and wherein the universal driving and steering assembly further comprises a second steering shaft and a gear mounted at one end thereof in engagement with the gears mounted on the second of each arm assembly steering shaft.

24. A mobile base for movement on a surface comprising:

A. a plurality of leg assemblies, each leg assembly including,

1. A pivotal wheel assembly, the wheel assembly comprising,

a. a wheel,

b. means for imparting axial rotation to the wheel, and

c. means for pivoting the wheel about a pivoting axis substantially perpendicular to its rotational axis; and

31. A mobile base as defined in claim 24 further comprpising C-rings mounted to the ends of the drive shafts, and wherein the second and third gears of the wheel assembly, the gears mounted at each end of the arm assembly drive shaft, and the drive gear mounted to the universal driving and steering assembly drive shaft are captured on said shafts by said C-rings.

25. a pojecting arm assembly comprising,

a. a drive shaft interconnected at a first end to the means for imparting axial rotation to the wheel, and

b. a steering shaft concentrically positioned with respect to the drive shaft and interconnected at a first end to the means for pivoting the wheel;

B. a universal driving and steering assembly comprising,

1. first means for engaging the second end of each drive shaft and for controlling the rotation of each drive shaft, and

2. second means for engaging the second end of each steering shaft and for controlling the rotation of each steering shaft; and

C. means for powering the first and second means of the universal driving and steering assembly;

whereby simultaneous steering and/or axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein the transfer of power from the powering means to the wheel and wheel assembly of each leg assembly is achieved through the use of concentric shafts.

32. A mobile base as defined in claim 25 further comprising bearings mounted between adjacent gears connected to the drive and steering shafts so that longitudinal movement of each gear on each steering shaft is restrained by the adjacent gear on the corresponding drive shaft.

40. A mobile base as defined in claim 32 wherein the means for simultaneously powering the means for pivoting the first longitudinal leg members comprises a motor and an associated gear reducer, the gear reducer having an output gear, and further comprising an endless chain connected about the output gear and about each first longitudinal leg member pivoting means so as to simultaneously pivotally retract each first longitudinal leg member by moving the chain in a first direction and to simultaneously pivotally extend each first longitudinal leg member by moving the chain in a second direction.

47. A mobile base as defined in claim 32 wherein the means for imparting axial rotation to the wheels of each wheel assembly comprises an axle connected to the wheel so as to project therefrom, a first gear mounted to the projection of the axle so as to impart axial rotation thereto, a second gear meshed with the first gear so as to impart rotation to the first gear, a wheel assembly shaft having one end connected to the second gear for rotation thereof, and a third gear connected to the second end of the wheel assembly shaft;

wherein the means for pivoting the wheel comprises an outer housing positioned about the wheel assembly shaft and the axle so that pivoting the wheel assembly causes simultaneous pivoting of the wheel, and a steering gear secured to the housing for controlling the pivotal orientation of the wheel assembly; and

wherein each first longitudinal leg member drive shaft and steering shaft each have a gear mounted on their respective first ends for engaging with the respective third gear and the steering gear of the pivotal wheel assembly.

48. A mobile base as defined in claim 40 wherein each wheel has a radius (r);

wherein the first gear of the wheel assembly has a plurality of teeth, N1, facing toward the wheel connected to the axle, where N1 is an integer;

wherein the second gear of the wheel assembly has a plurality of teeth, N2, where N2 is an integer, and wherein the second gear defines a wheel pivot radius (r'"'"') for the wheel as the distance between the center of the second gear and the wheel perimeter that contacts the surface upon which the mobile base moves;

wherein the ratio of the teeth of the second gear to the teeth of the first gear (i.e., N2/N1) is substantially the same as the ratio of the wheel pivot radius to the wheel radius (i.e., N2/N1 =r'"'"'/r);

whereby simultaneous steering and axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein steering of the wheel assemblies can be achieved without translation of the wheel assemblies while allowing the wheels to rotate about their axes without slippage.

60. A mobile base as defined in claim 48 wherein each wheel has a radius (r);

wherein the first gear of the wheel assembly has a plurality of teeth, N1, facing toward the wheel connected to the axle, where N1 is an integer;

wherein the second gear of the wheel assembly has a plurality of teeth, N2, where N2 is an integer, and wherein the second gear defines a wheel pivot radius (r'"'"') for the wheel as the distance between the center of the second gear and the wheel perimeter that contacts the surface upon which the mobile base moves;

wherein the ratio of the teeth of the second gear to the teeth of the first gear (i.e., N2/N1) is substantially the same as the ratio of the wheel pivot radius to the wheel radius (i.e., N2/N1 =r'"'"'/r);

whereby simultaneous steering and axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein steering of the wheel assemblies can be achieved without translation of the wheel assemblies while allowing the wheels to rotate about their axes without slippage.

38. A mobile base for moving about a surface comprising:

A. a plurality of extensible leg assemblies, each leg assembly comprising,

1. a wheel assembly comprising,

a. a wheel

b. means for imparting axial rotation to the wheel, and

c. means for pivoting the wheel about a pivoting axis substantially perpendicular to its rotational axis; and

2. a first longitudinal leg member comprising,

a. a first drive shaft having proximal and distal ends and having means at its distal end engaged with the means for imparting axial rotation to the wheel, and

b. a first steering shaft concentrically positioned with respect to the first drive shaft, the first steering shaft having proximal and distal ends and having means mounted at its distal end for engagement with the means for pivoting the wheel,

46. A mobile base as defined in claim 38 wherein each wheel has a radius (r);

wherein the first gear of the wheel assembly has a plurality of teeth, N1, facing toward the wheel connected to the axle, where N1 is an integer;

wherein the second gear of the wheel assembly has a plurality of teeth, N2, where N2 is an integer, and wherein the second gear defines a wheel pivot radius (r'"'"') for the wheel as the distance between the center of the second gear and the wheel perimeter that contacts the surface upon which the mobile base moves;

wherein the ratio of the teeth of the second gear to the teeth of the first gear (i.e., N2/N1) is substantially the same as the ratio of the wheel pivot radius to the wheel radius (i.e., N2/N1 =r'"'"'/r);

whereby simultaneous steering and axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein steering of the wheel assemblies can be achieved without translation of the wheel assemblies while allowing the wheels to rotate about their axes without slippage.

39. a vertically-oriented member comprising,

a. a second drive shaft, having proximal and distal end and having means at its distal end for engagement with the proximal end of the first drive shaft,

b. a second steering shaft concentrically positioned with respect to the second drive shaft, the second steering shaft having proximal and distal ends and having means at its distal end for engagement with the proximal end of the first steering shaft, and

c. means mounted to the vertically oriented member for controlling the pivoting of said member and said first longitudinal leg member;

4. a second longitudinal leg member comprising,

a. a third drive shaft having proximal and distal ends and having means at its distal end for engagement with the proximal end of the second drive shaft,

b. a third steering shaft concentrically positioned with respect to the third drive shaft, the third steering shaft having proximal and distal ends and having means mounted at its distal end for engagement with the proximal end of the second steering shaft;

B. a universal driving and steering assembly comprising,

1. means for engagement with and powering of the proximal end of the third drive shaft of each extensible leg assembly, and

2. means for engagement with and powering of the proximal end of each third steering shaft; and

C. means for simultaneously powering the means for pivoting the first longitudinal leg members;

whereby steering of each wheel assembly and axial rotation of each wheel is achieved and further whereby the first longitudinal leg members can be pivoted outward to increase the zone of stability of the mobile base and pivoted inward to allow the mobile base to pass through narrow passageways and still further whereby concentric shafts transfer drive and steering power to the wheel and wheel assemblies of each leg assembly.

58. A mobile base as defined in claim 39 wherein each wheel has a radius (r);

wherein the first gear of the wheel assembly has a plurality of teeth, N1, facing toward the wheel connected to the axle, where N1 is an integer;

wherein the second gear of the wheel assembly has a plurality of teeth, N2, where N2 is an integer, and wherein the second gear defines a wheel pivot radius (r'"'"') for the wheel as the distance between the center of the second gear and the wheel perimeter that contacts the surface upon which the mobile base moves;

wherein the ratio of the teeth of the second gear to the teeth of the first gear (i.e., N2/N1) is substantially the same as the ratio of the wheel pivot radius to the wheel radius (i.e., N2/N1 =r'"'"'/r);

whereby simultaneous steering and axial rotation of the wheels associated with each of the wheel assemblies is achieved and further wherein steering of the wheel assemblies can be achieved without translation of the wheel assemblies while allowing the wheels to rotate about their axes without slippage.

49. A mobile base for movement about a surface, comprising:

A. N wheel assemblies, where N is an integer greater than 2, each wheel assembly comprising,

1. a wheel,

50. means for axially rotatiang the wheel, andmeans for steering the wheel about a pivoting axis substantially perpendicular to its rotational axis;

B. N extensible leg assemblies, each having a distal wheel assembly end for pivotal interconnection to a respective wheel assembly, each leg assembly including,

1. a first longitudinal leg member comprising,

a. a distal end for pivotally mounting to the wheel assembly,

b. a first drive shaft having proximal end distal ends and having means mounted at its distal end for engagement with the means for axially rotating the wheel,

c. a first steering shaft concentrically positioned with respect to the first drive shaft, the first steering shaft having proximal and distal ends and having means mounted at its distal end for engagement with the means for steering the wheel;

2. a vertically-oriented member comprising,

a. a second drive shaft having proximal and distal ends and having means mounted at its distal end for engagement with the proximal end of the first drive shaft,

b. a second steering shaft concentrically positioned with respect to the second drive shaft, the second steering shaft having proximal and distal ends and having means mounted at its distal end for engagement with the proximal end of the first steering shaft, and

c. means mounted to the vertically oriented member for controlling the pivoting of said member and said first longitudinal leg member;

3. a second longitudinal leg member comprising,

a. a third drive shaft having proximal and distal ends, and having means mounted at its distal end for engagement with the proximal end of the second drive shaft,

b. a third steering shaft concentrically mounted about a portion of the third drive shaft, having proximal and distal ends and having means mounted at its distal end for engagement with the proximal end of the second steering shaft,

c. for N-1 of the leg assemblies, a fourth steering shaft concentrically positioned with respect to the proximal end of the third drive shaft and having proximal and distal ends;

d. for said N-1 leg assemblies, a planetary gear assembly having,

51. an output gear connected to the proximal end of the third steering shaft,an input gear connected to the distal end of the fourth steering shaft,a central gear mechanically engaged with both the input and output gear of the planetary gear assembly,means for positioning the central gear axially about the third drive shaft while engaged with the input and output gears of the planetary assembly so as to impart steering motion to the associated wheels when the fourth steering shaft is maintained in a stationary position, and

52. means connected to the means for changing the position of the central gear of the planetary gear assembly so as to simultaneously move the central gear of each planetary gear assembly so as to impart steering movement to the wheel associated with each such extensible leg assembly;

C. a universal driving and steering assembly comprising,

1. a fourth drive shaft having proximal and distal ends, and having means mounted at its distal end for engagement with the proximal end of the third drive shaft of each leg assembly; and

2. a fifth steering shaft having proximal and distal ends, and having means mounted at its distal end for engagement with the proximal end of each fourth steering shaft of said N-1 leg assemblies and with the proximal end of the third steering shaft of the Nth leg assembly; and

D. means coupled to the universal driving and steering assembly comprising,

53. means for powering the proximal end of the fourth drive shaft;

and

2. means for powering the proximal end of the fifth steering shaft;

whereby simultaneous turning and axial rotation of each wheel is achieved and whereby the first longitudinal leg members can be pivoted outward to increase the zone of stability of the mobile base and pivoted inward to allow the mobile base to pass through narrow passageways, whereby concentric shafts transfer driving and steering power from the drive and steering means to the wheel for each leg assembly, and further wherein retraction and extension of the first longitudinal leg members can be achieved without wheel pirouetting.