Wheel mounting system

• US 9,782,822 B2
• Filed: 12/03/2014
• Issued: 10/10/2017
• Est. Priority Date: 07/09/2014
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Oberoi, Harinder S., Kozak, Michael J., Do, Quang T., Reese, IV, Richard Griffith, Miller, Jeffrey Lawrence, Gudzinski, Gregory
• Primary Examiner(s): TO, TOAN C
• Application Number:
  US14/559,115
• Publication Number:
  US 20160009155A1
• Time in Patent Office: 1,042 Days
• Field of Search: 2801241, 254 89 R, 254418, 212296, 244119, 244139
• CPC Class Codes: B21J 15/02 Riveting procedures
• CPC Class Codes: B21J 15/10 Riveting machines electric heating elements H05B
• CPC Class Codes: B21J 15/142 Aerospace structures
• CPC Class Codes: B21J 15/28 Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
• CPC Class Codes: B21J 15/32 Devices for inserting or holding rivets in position with or without feeding arrangements
• CPC Class Codes: B21J 15/40 for forming rivet heads
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B23P 21/002 the units stationary whilst being composed
• CPC Class Codes: B23P 2700/00 Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: B25B 5/163 Jaws or jaw attachments
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 11/007 Riveting
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B29C 2045/14368 holes with means for anchoring the injected material
• CPC Class Codes: B29C 2793/0081 before shaping
• CPC Class Codes: B29C 39/026 characterised by the shape of the surface
• CPC Class Codes: B29C 39/10 : incorporating preformed parts or layers, e.g. casting around inserts or for coating articles coating a surface by casting in general B05D1/30, B29C39/126 takes precedence
• CPC Class Codes: B29C 39/123 : Making multilayered articles
• CPC Class Codes: B29C 39/22 : Component parts, details or accessories; Auxiliary operations
• CPC Class Codes: B29C 45/14336 : Coating a portion of the article, e.g. the edge of the article B29C45/14573 and B29C45/14598 take precedence
• CPC Class Codes: B29C 65/70 : by moulding using a particular moulding technique, see the relevant technique , e.g. by injection B29C45/14467
• CPC Class Codes: B29K 2715/00 : Condition, form or state of preformed parts, e.g. inserts
• CPC Class Codes: B29L 2031/748 : Machines or parts thereof not otherwise provided for conveyor belts B29L2031/7092; driving belts B29L2031/7094; bearings B29L2031/04
• CPC Class Codes: B60G 2204/143 : on the vehicle body or chassis
• CPC Class Codes: B60G 2204/418 : Bearings, e.g. ball or roller bearings
• CPC Class Codes: B60G 2206/8207 : by screwing
• CPC Class Codes: B60G 2300/60 : Vehicles using regenerative power
• CPC Class Codes: B60G 3/145 : the arm forming the axle housing
• CPC Class Codes: B60G 7/001 : Suspension arms, e.g. constructional features B60G7/006 takes precedence
• CPC Class Codes: B60G 7/008 : Attaching arms to unsprung part of vehicle B60G7/005, B60G7/006 take precedence
• CPC Class Codes: B60P 3/025 : the object being a shop, cafeteria or display the object being a theatre or stagethe object being a workshop B60P3/14
• CPC Class Codes: B64C 1/00 : Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
• CPC Class Codes: B64C 1/06 : Frames; Stringers; Longerons ; Fuselage sections
• CPC Class Codes: B64C 1/068 : Fuselage sections
• CPC Class Codes: B64C 1/069 : Joining arrangements therefor
• CPC Class Codes: B64F 5/10 : Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: B64F 5/50 : Handling or transporting aircraft components
• CPC Class Codes: F16B 19/06 : Solid rivets made in one piece
• CPC Class Codes: G05B 19/41805 : characterised by assembly
• CPC Class Codes: G05B 2219/45071 : Aircraft, airplane, ship cleaning manipulator, paint stripping
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 3/12 : using feedback
• CPC Class Codes: Y02P 90/80 : Management or planning
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/41 : Tool

Abstract

A method and apparatus for installing a wheel arm assembly for an autonomous vehicle. The wheel arm assembly may be inserted into a base of the autonomous vehicle from the exterior of the base. A number of fasteners may be installed at the exterior of the base to attach the wheel arm assembly to the base of the autonomous vehicle.

Claims

1. An apparatus comprising:

a retaining structure associated with a base of a vehicle and a wheel arm assembly coupleable to the retaining structure at an exterior of the base;

wherein the retaining structure has a first channel, the wheel arm assembly comprises a retainer bushing, and the retainer bushing comprises a first end, a second end, and a second channel that extends from the first end of the retainer bushing to the second end of the retainer bushing.

2. The apparatus of claim 1, wherein the wheel arm assembly is coupleable to the retaining structure from a first end of the retaining structure located at the exterior of the base.

3. The apparatus of claim 1, wherein the wheel arm assembly is coupleable from the exterior of the base without requiring disassembly of any portion of the base.

4. The apparatus of claim 1, wherein the retaining structure comprises:

a first end that faces externally with respect to the vehicle; and

a second end that faces internally with respect to the vehicle.

5. The apparatus of claim 4, wherein the retaining structure has a first channel that extends from the first end to the second end and wherein the wheel arm assembly is located within the first channel when the wheel arm assembly is coupled to the retaining structure.

6. The apparatus of claim 1, wherein the retainer bushing enables coupling and decoupling of the wheel arm assembly from the exterior of the base.

7. The apparatus of claim 1, wherein the retainer bushing comprises:

a flange at a first end of the retainer bushing.

8. The apparatus of claim 7, wherein the flange overlaps a first end of the retaining structure when the wheel arm assembly is coupled to the retaining structure.

9. The apparatus of claim 1, wherein the wheel arm assembly further comprises:

a number of fasteners that attach the retainer bushing to the retaining structure.

10. The apparatus of claim 9, wherein the number of fasteners attach the retainer bushing to a first end of the retaining structure at the exterior of the base.

11. The apparatus of claim 1, wherein the wheel arm assembly further comprises:

a sliding bushing located within a second channel of the retainer bushing, wherein the sliding bushing has a third channel.

12. The apparatus of claim 11, wherein the wheel arm assembly further comprises:

a wheel arm, wherein a first portion of the wheel arm is located within the third channel of the sliding bushing and wherein a second portion of the wheel arm extends past a first end of the retainer bushing.

13. The apparatus of claim 12, wherein the wheel arm assembly further comprises:

a bearing located at the first end of the retainer bushing.

14. The apparatus of claim 13, wherein the bearing contacts the retainer bushing, the sliding bushing, and the wheel arm.

15. The apparatus of claim 13, wherein the wheel arm assembly further comprises:

a plate; and

a set of fasteners that attach the plate to the wheel arm.

16. The apparatus of claim 15, wherein the bearing applies a first force against the first end of the retainer bushing and the plate applies a second force against a second end of the retainer bushing.

17. The apparatus of claim 16, wherein the first force and the second force substantially prevent axial motion of the wheel arm.

18. The apparatus of claim 15, wherein a greatest width of the plate is less than a smallest width of the first channel of the retaining structure such that the plate is freely movable through the first channel of the retaining structure in a direction substantially parallel to a wheel axis.

19. The apparatus of claim 15, wherein a smallest width of the plate is greater than a greatest width of the second channel of the retainer bushing such that the plate overlaps an internally-facing end of the retainer bushing such that the plate is not freely moveable within the second channel of the retainer bushing in a direction substantially parallel to a wheel axis.

20. The apparatus of claim 1, wherein the vehicle is an autonomous vehicle.

21. The apparatus of claim 1 further comprising:

a hub assembly associated with a wheel arm.

22. The apparatus of claim 21 further comprising:

a wheel associated with the hub assembly and the wheel arm.

23. The apparatus of claim 22, wherein the wheel is selected from one of an omnidirectional wheel, a holonomic wheel, and a mecanum wheel.

24. An apparatus comprising:

a wheel arm assembly that is removably associated with a retaining structure in an autonomous vehicle at an externally-facing end of the retaining structure;

wherein the wheel arm assembly further comprises a wheel arm, the retainer bushing is located around a first portion of the wheel arm, and a second portion of the wheel arm extends past a first end of the retainer bushing.

25. The apparatus of claim 24, wherein the wheel arm assembly comprises:

a retainer bushing that enables the wheel arm assembly to be coupled to and decoupled from the retaining structure.

26. The apparatus of claim 24, wherein the wheel arm assembly further comprises:

a sliding bushing located between the wheel arm and the retainer bushing.

27. The apparatus of claim 24, wherein the wheel arm assembly further comprises:

a plate; and

a set of fasteners that attach the plate to the wheel arm at a second end of the retainer bushing such that the plate at least partially overlaps the second end of the retainer bushing.

28. A method for installing a wheel arm assembly for an autonomous vehicle, the method comprising:

inserting the wheel arm assembly into a base of the autonomous vehicle from an exterior of the base;

installing a number of fasteners at the exterior of the base to attach the wheel arm assembly to the base of the autonomous vehicle; and

assembling the wheel arm assembly, wherein assembling the wheel arm assembly comprises inserting a sliding bushing into a retainer bushing at a first end of the retainer bushing to press-fit the sliding bushing within the retainer bushing.

29. The method of claim 28, wherein inserting the wheel arm assembly comprises:

inserting the wheel arm assembly into a first channel of a retaining structure associated with the base.

30. The method of claim 28, wherein the wheel arm assembly comprises:

inserting the wheel arm assembly into a retaining structure in a direction from a first end of the retaining structure to a second end of the retaining structure.

31. The method of claim 28 further comprising:

removing the number of fasteners to decouple a retainer bushing from a retaining structure; and

removing the wheel arm assembly from the retaining structure.

32. The method of claim 28, wherein assembling the wheel arm assembly comprises:

inserting a wheel arm into the sliding bushing at the first end of the retainer bushing such that a first portion of the wheel arm is overlapped by the retainer bushing and a second portion of the wheel arm extends past the first end of the retainer bushing.

33. The method of claim 32, wherein assembling the wheel arm assembly further comprises:

attaching a plate to the wheel arm at a second end of the retainer bushing using a set of fasteners such that the plate at least partially overlaps the second end of the retainer bushing.

34. The method of claim 33, wherein assembling the wheel arm assembly comprises:

positioning a bearing between the wheel arm and the first end of the retainer bushing such that the bearing contacts the wheel arm, the sliding bushing, and the first end of the retainer busing.