# US 10,118,655 B2 · Hinged vehicle chassis > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,655 B2 - Document ID: US10118655B2 - Status: Granted - Kind: B2 - Application number: 15/851,038 - Filed: 2017-12-21 - Published: 2018-06-28 - Granted: 2018-11-06 - Earliest claimed: 2013-11-30 - Assignees: Saudi Arabian Oil Company - Applicants: Saudi Arabian Oil Company - Inventors: Ali Outa; Pablo Carrasco Zanini; Fadl Abdellatif; Brian Parrott - Web page: https://patentgrep.com/patent/US10118655B2 ## CPC - B62D 39/00: Vehicle bodies not otherwise provided for {, e.g. safety vehicles (safety equipment B60R21/00)} - B60B 19/003: {Multidirectional wheels} - B60B 19/006: {Magnetic wheels} - B60B 19/12: Roller-type wheels (B60B19/06 takes precedence) - B62D 53/02: comprising a uniaxle tractor unit and a uniaxle trailer unit {(see B60B11/00 - B60B11/08)} - B62D 57/00: Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track (sledges B62B; motor sledges B62M) - B62D 61/00: Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern - B62D 63/04: Component parts or accessories - F16L 2101/30: Inspecting, measuring or testing - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL ## Abstract A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing. ## Claims ### Claim 1 A robotic vehicle chassis, comprising: a first chassis section, the first chassis section including at least one motor; a second chassis section; a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction; a drive wheel mounted to the first chassis section, wherein the drive wheel includes a first hub and a second hub, the first and second drive hubs being configured to be actuated to rotate independently by the at least one motor; an omni-wheel mounted to the second chassis section, the omni-wheel being mounted at an angle orthogonal with respect to the drive wheel and configured to be passively driven by the drive wheel; at least a first magnet connected to at least the drive wheel or the first chassis section; and at least a second magnet connected to at least the omni-wheel or the second chassis section, wherein the at least first and second magnets maintain an attractive force between the first chassis section and the surface and the second chassis section and the surface, respectively, wherein the surface is ferromagnetic, wherein the hinge joint rotates in response to the curvature of a surface the vehicle is traversing. ### Claim 2 (depends on 1) The robotic vehicle chassis of claim 1, further comprising: a spring element extending between the first and second chassis section, the spring element providing a force that urges the first and second chassis sections into a normal position in which there is a zero degree of rotation between the first and second chassis sections. ### Claim 3 (depends on 1) The robotic vehicle chassis of claim 1, wherein the omni-wheel includes a first and second set of rollers located on each side of the omni-wheel such that the first and second set of rollers are located to maintain at least two points of contact with the surface. ### Claim 4 (depends on 3) The robotic vehicle chassis of claim 3, wherein the first and second set of rollers are supported by a first and second hub, respectively, where the first and second hubs are configured to rotate freely with respect to each other. ### Claim 5 (depends on 1) The robotic vehicle chassis of claim 1, wherein the drive wheel includes a first and second drive hub, wherein the first and second drive hubs are configured to selectively rotate freely with respect to each other. ### Claim 6 (depends on 5) The robotic vehicle chassis of claim 5, wherein the contact surfaces of the drive hubs are curved such that each side of the driving wheel contacts the surface at a single point. ### Claim 7 (depends on 6) The robotic vehicle chassis of claim 6, wherein points of contact of the drive hubs are textured. ### Claim 8 (depends on 7) The robotic vehicle chassis of claim 7, wherein points of contact of the drive hubs are knurled. ### Claim 9 (depends on 6) The robotic vehicle chassis of claim 6, wherein points of contact of the drive hubs are coated. ### Claim 10 (depends on 9) The robotic vehicle chassis of claim 9, wherein points of contact of the drive hubs have a rubber coating. ### Claim 11 (depends on 9) The robotic vehicle chassis of claim 9, wherein points of contact of the drive hubs have a polyurethane coating. ### Claim 12 (depends on 1) The robotic vehicle chassis of claim 1, wherein a single power source provides power to the first and second chassis sections and the at least one motor for driving the drive wheel. ### Claim 13 (depends on 1) The robotic vehicle chassis of claim 1, wherein a first motor actuates the first hub and a second motor actuates the second hub. ### Claim 14 A robotic vehicle chassis, comprising: a first chassis section; a second chassis section; a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction; a drive wheel mounted to one of the first and second chassis sections, wherein the drive wheel includes a single hub, and wherein the drive wheel has a curvature such that the single hub contacts the surface at a single point; an omni-wheel mounted to the other of the first and second chassis sections; the omni-wheel being mounted at an angle orthogonal with respect to the drive wheel; at least a first magnet connected to at least the drive wheel or the chassis section to which the drive wheel is mounted; and at least a second magnet connected to at least the omni-wheel or the chassis section to which the omni-wheel is mounted, wherein the at least first and second magnets maintain an attractive force between the first chassis section and the surface and the second chassis section and the surface, respectively, wherein the surface is ferromagnetic, wherein the hinge joint rotates in response to the curvature of a surface the vehicle is traversing. ### Claim 15 A robotic vehicle chassis, comprising: a first chassis section; a second chassis section; a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction; at least one rotation stop positioned to prevent undesired rotation about the hinge joint; a drive wheel mounted to the first chassis section; an omni-wheel mounted to the second chassis section, the omni-wheel being mounted at an angle orthogonal with respect to the drive wheel; at least a first magnet connected to at least the drive wheel or the first chassis section; and at least a second magnet connected to at least the omni-wheel or the second chassis section, wherein the at least first and second magnets maintain an attractive force between the first chassis section and the surface and the second chassis section and the surface, respectively, wherein the surface is ferromagnetic, wherein the hinge joint rotates in response to the curvature of a surface the vehicle is traversing. ### Claim 16 (depends on 15) The robotic vehicle chassis of claim 15, wherein the at least one rotation stop is included in the hinge joint. ### Claim 17 (depends on 15) The robotic vehicle chassis of claim 15, wherein the at least one rotation stop includes mating surfaces on each of the first chassis section and the second chassis section. ### Claim 18 (depends on 15) The robotic vehicle chassis of claim 15, wherein the at least one rotation stop includes mating surfaces on the first chassis section and on the omni-wheel. ### Claim 19 (depends on 15) The robotic vehicle chassis of claim 15, wherein the at least one rotation stop limits rotation of the hinge joint to a set range of degrees. ### Claim 20 (depends on 19) The robotic vehicle chassis of claim 19, wherein the set range of degrees limits rotation of the hinge joint to be in only one direction from a linearly aligned position of the first and second chassis sections. ### Claim 21 (depends on 15) The robotic vehicle chassis of claim 15, wherein the at least one rotation stop is adjustable to allow the hinge to rotate to adapt to both concave and convex surfaces. ### Claim 22 (depends on 15) The robotic vehicle chassis of claim 15, wherein the at least one rotation stop provides resistance to rotation in a direction other than the first direction.