# US 2018/0022208 A1 · Statically stable robot using wheel with inner system

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- Number: US 2018/0022208 A1
- Document ID: US20180022208A1
- Status: Published application
- Kind: A1
- Application number: 15/547,378
- Filed: 2016-01-29
- Published: 2018-01-25
- Earliest claimed: 2015-01-30
- Assignees: The University of Sydney
- Applicants: The University of Sydney
- Inventors: Mark Calleija; Salah Sukkarieh
- Web page: https://patentgrep.com/patent/US20180022208A1

## CPC

- B60K 7/0007: {the motor being electric}
- B60K 1/04: of the electric storage means for propulsion
- B60K 7/0015: {the motor being hydraulic}
- B60K 7/0023: {the motor being pneumatic}
- B60K 17/043: {Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel}
- B60L 8/003: {Converting light into electric energy, e.g. by using photo-voltaic systems}
- A01G 25/09: Watering arrangements making use of movable installations on wheels or the like
- B60K 2001/045: {Arrangement in a wheel, e.g. a spare wheel}
- B60K 2007/0038: {the motor moving together with the wheel axle}
- B60K 2007/0061: {the motor axle being parallel to the wheel axle}
- B60L 50/64: Constructional details of batteries specially adapted for electric vehicles
- B60L 50/66: {Arrangements of batteries}
- B60L 2200/16: Single-axle vehicles
- Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- A01G: HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING (picking of fruits, vegetables, hops or the like A01D46/00; propagating unicellular algae C12N1/12)
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

The invention relates to a vehicle including a chassis and a pair of wheels supported in spaced apart relationship by the chassis for rotation about a common axis. A pair of drive modules is associated with the respective wheels. The drive modules and the chassis are connected for rotation as a sub-assembly relative to the wheels about the common axis with the centre of mass of the sub-assembly below the common axis in a static equilibrium position. Each of the drive modules is housed substantially within the respective wheel.

## Claims

### Claim 1

A vehicle including a chassis, a pair of wheels supported in spaced apart relationship by the chassis for rotation about a common axis, and a pair of drive modules associated with the respective wheels,
wherein the drive modules and the chassis are connected for rotation as a sub-assembly relative to the wheels about the common axis with the centre of mass of the sub-assembly below the common axis in a static equilibrium position, and
wherein each of the drive modules is housed substantially within the respective wheel.

### Claim 2 (depends on 1)

A vehicle according to claim 1, wherein the centres of mass of the drive modules in the static equilibrium position are disposed substantially below the common axis, to counterbalance the chassis and thereby allow the centre of mass of the chassis and any associated payload to be stably positioned substantially above the common axis.

### Claim 3 (depends on 1)

A vehicle according to claim 1, wherein the drive modules are substantially frontally occluded by the respective wheels.

### Claim 4

(canceled)

### Claim 5 (depends on 1)

A vehicle according claim 1, wherein each of the drive modules includes at least a drive motor.

### Claim 6

(canceled)

### Claim 7

(canceled)

### Claim 8 (depends on 1)

A vehicle according claim 1, wherein the drive modules include a computerised control module.

### Claim 9 (depends on 1)

A vehicle according to claim 1, wherein the drive modules include additional counterweights, thereby to enable the chassis to support payloads with relatively higher centres of mass.

### Claim 10

(canceled)

### Claim 11 (depends on 1)

A vehicle according to claim 1, wherein the chassis includes a primary support platform adapted to support a payload.

### Claim 12 (depends on 11)

A vehicle according to claim 11, wherein the payload includes apparatus and systems whereby the vehicle is adapted to function substantially autonomously.

### Claim 13 (depends on 11)

A vehicle according to claim 11, wherein the primary support platform is counterbalanced such that the primary platform is predominantly supported at a level above the wheels of the vehicle.

### Claim 14 (depends on 11)

A vehicle according to claim 11, wherein the primary support platform is adapted for use as a launch pad for one or more supplementary vehicles.

### Claim 15 (depends on 14)

A vehicle according to claim 14, wherein the primary support platform is configured to include one or more docking stations enabling periodic battery charging or refilling for the one or more supplementary vehicles.

### Claim 16

(canceled)

### Claim 17 (depends on 1)

A vehicle according to claim 1, wherein the chassis is adapted to support one or more solar panels, to provide electric power for the drive motors and thereby extend vehicle runtime.

### Claim 18 (depends on 1)

A vehicle according to claim 1, wherein the chassis is adjustable in length, thereby allowing the track between the wheels to be selectively adjusted.

### Claim 19 (depends on 1)

A vehicle according to claim 1, wherein the chassis is selectively adjustable in height for obstacle avoidance and/or path optimisation.

### Claim 20 (depends on 1)

A vehicle according to claim 1, wherein the vehicle includes a dynamic stability control system adapted to reduce tilting oscillations around the common axis.

### Claim 21 (depends on 1)

A vehicle according to claim 1, wherein an angular orientation of the chassis, relative to the drive modules in the static equilibrium position, is selectively adjustable about the common axis.

### Claim 22 (depends on 1)

A vehicle according to claim 1, wherein one or more additional wheels is incorporated between, in front of or behind the pair of wheels for stability, supplementary drive capacity and/or additional load bearing capacity.

### Claim 23 (depends on 22)

A vehicle according to claim 22, wherein one or more additional wheels are supported for rotation on the common axis.

### Claim 24 (depends on 23)

A vehicle according to claim 23, wherein the or each additional wheel incorporates a steering mechanism.

### Claim 25 (depends on 24)

A vehicle according to claim 24, wherein two or more of the vehicles are coupled together by means of an interconnecting assembly, thereby to create a composite vehicle with four or more wheels.

### Claim 26

(canceled)