Concentric shaft mobile base for robots and the like

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;
• 2. 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,
• 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 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.

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,
• 1. 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;
• 2. 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,
• 1. an output gear connected to the proximal end of the third steering shaft,
• 2. an input gear connected to the distal end of the fourth steering shaft,
• 3. a central gear mechanically engaged with both the input and output gear of the planetary gear assembly,
• 4. 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.

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
• 2. 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.

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,
• 3. 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.

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,
• 2. means for axially rotatiang the wheel, and
• 3. means 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,
• 1. an output gear connected to the proximal end of the third steering shaft,
• 2. an input gear connected to the distal end of the fourth steering shaft,
• 3. a central gear mechanically engaged with both the input and output gear of the planetary gear assembly,
• 4. 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
• 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 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,
• 1. 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.