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Robot transport platform with multi-directional wheels

  • US 5,323,867 A
  • Filed: 03/06/1992
  • Issued: 06/28/1994
  • Est. Priority Date: 03/06/1992
  • Status: Expired due to Term
First Claim
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1. A robot transport platform adapted for translation and pivotal motion over a running surface, comprising:

  • a base having oppositely disposed sides, and a fore end and an aft end;

    a first pair of wheels disposed on opposite sides of the base toward the fore end of the base, each wheel havinga cylindrical hub,a plurality of annular shafts each circumscribing the hub,spokes extending radially from the cylindrical hub to each annular shaft,spherical rollers rotatably mounted to each annular shaft,wherein the rollers are staggered from the rollers mounted on adjacent annular shafts;

    a second pair of wheels disposed on opposite sides of the base toward the aft end of the base;

    a pair of intermediate wheels disposed on opposite sides of the base in an intermediate position in between the first pair and second pair of wheels, wherein on each side of the base the first and second wheels and the intermediate wheel are mounted at a substantially constant height defined from a line extending parallel to the running surface;

    a motor disposed on the base;

    a gearbox for selectively engaging the intermediate wheels and first and second wheels, wherein the gearbox is driven by the motor;

    means for controlling the motor and gearbox including a pulse width modulation converter mounted to the base,a servo amplifier electrically connected to the pulse width modulation converter,power relays adapted to engage the gearbox and motor,means for receiving a signal, electrically connected to the pulse width modulation converter; and

    a power cell connected to the means for controlling.

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