# US 5,701,966 A · Omnidirectional self-propelled vehicle for ground handling of equipment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 5,701,966 A - Document ID: US5701966A - Status: Granted - Kind: A - Application number: 08/584,428 - Filed: 1996-01-11 - Granted: 1997-12-30 - Earliest claimed: 1996-01-11 - Assignees: Air Tracks, Inc. - Inventors: Peter Amico - Web page: https://patentgrep.com/patent/US5701966A ## CPC - B64F 1/22: for handling aircraft - 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) - Y10S 180/904: Traction dollies for aircraft - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR - 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) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Self-propelled vehicle for ground handling of equipment supportable by a pair of skids engageable by a lifting element and a stabilizing element. The vehicle has a front chassis rotatably connected to a rear chassis for relative tilting movement in a plane transverse to a longitudinal vehicle axis. Each chassis is supported by a pair of independently driven omnidirectional wheels for movement of the vehicle over the ground in any azimuthal direction. Mounted on the rear chassis is a lift assembly of adjustable transverse width for engaging the skids with the lifting elements and lifting the equipment to an elevated position for transport over the ground. A stabilizer assembly of adjustable transverse width is also mounted on the rear chassis, but extends through and in front of the front chassis for engaging the skids with the stabilizing elements to prevent fore/aft teetering movement of the elevated equipment. ## Claims ### Claim 1 A vehicle for ground handling of equipment supportable on the ground by a pair of opposing skids each engageable by a lifting element, said vehicle comprising: a front chassis having at least one omnidirectional wheel on each side of a longitudinal axis and arranged to support said front chassis for movement over the ground in any azimuthal direction, each of said front omnidirectional wheels comprising a rotatable front hub and a plurality of rollers secured to the periphery of the front hub with their rotational axis disposed angularly with respect to an axis of rotation of the front hub such that the roller axes of the respective front wheels intersect at a point rearwardly of the front hub axes; a rear chassis having at least one omnidirectional wheel on each side of said longitudinal axis of said vehicle and arranged to support said rear chassis for movement over the ground in any azimuthal direction, each of said rear omnidirectional wheels comprising a rotatable rear hub and a plurality of rollers secured to the periphery of the rear hub with their rotational axis disposed angularly with respect to an axis of rotation of the rear hub such that the roller axes of the respective rear wheels intersect at a point forwardly of the rear hub axes; pivot means for rotatably interconnecting the front chassis and rear chassis so that they are tiltable relative to each other in a plane transverse to said longitudinal axis; a lift assembly comprising a center section of adjustable length pivotally mounted on one of said chassis for pivotable movement in a plane substantially parallel to said longitudinal axis, left and right lever arms extending in the direction of said longitudinal axis and each connected at one end to said center section and at the other end to a fitting adapted to engage said lifting element, and a lifting mechanism connected to said center section for causing said pivotal movement such that, when said fittings engage said lifting elements and said lifting elements engage said skids, said equipment may be lifted to an elevated position off of the ground by a lifting force acting substantially through the center of gravity of the equipment and enabling substantially the entire weight of the equipment to be borne by the lift assembly for transport by movement of said vehicle over the ground. ### Claim 2 (depends on 1) The vehicle of claim 1 wherein the axes of both the front and rear rollers form an angle in the range of about 30.degree. to about 60.degree. with respect to the rotational axis of the corresponding hub. ### Claim 3 (depends on 2) The vehicle of claim 2 wherein said angle is about 45.degree.. ### Claim 4 (depends on 1) The vehicle of claim 1 wherein each of said wheel rollers is elongated in a longitudinal direction and has an outer ground contacting surface convexly vaulted in the longitudinal direction, and wherein the angle between the axis of each roller and the corresponding hub axis and the distance at which the rollers are positioned in relation to each other around the corresponding hub is such that the rollers, as seen from a point on an extension of the corresponding hub axis and looking in a direction towards the corresponding wheel, together define an unbroken wheel periphery. ### Claim 5 (depends on 1) The vehicle of claim 1 for use in ground handling of a helicopter with two landing skids, each skid having a fitting directly opposite the fitting of the other skid by which a wheel can be mounted on the skid for movement of the helicopter while on the ground, wherein said lifting element is adapted for attachment to said wheel fitting on each skid, and wherein the engagement between said lifting elements and the lift fittings of said lift assembly enables the helicopter to be lifted and transported by movement of said vehicle without any of said skid wheels being attached to the skids. ### Claim 6 (depends on 1) The vehicle of claim 1 wherein each of said opposing skids is engageable by a stabilizing element, and wherein said vehicle further comprises a stabilizer assembly of adjustable length mounted on said one chassis and including means for engaging said stabilizing element to prevent fore/aft teetering of said equipment when in said elevated position. ### Claim 7 (depends on 6) The vehicle of claim 6 wherein said stabilizer assembly and said lift assembly are mounted on said rear chassis. ### Claim 8 (depends on 7) The vehicle of claim 7 wherein said stabilizer assembly comprises a central support section fixedly attached to said rear chassis by support means extending through said front chassis, and left and right extensible arms extending away from said longitudinal axis and each connected at one end to said support section and at the other end to a fitting adapted to engage said stabilizing element. ### Claim 9 (depends on 1) The vehicle of claim 1 wherein said center section of adjustable length comprises a support tube pivotally mounted on said one chassis for said pivotable movement and at least one extension tube telescoped within said support tube for extensible movement relative thereto, wherein a distal end portion of said extension tube is connected to a corresponding one of said lever arms, and wherein said lifting mechanism comprises an hydraulic piston and cylinder unit having one end pivotally connected to said support tube and another end pivotally connected to said one chassis. ### Claim 10 (depends on 9) The vehicle of claim 9 wherein said hydraulic unit comprises a piston rod with a distal end pivotally connected to said support tube and an hydraulic cylinder with a distal end pivotally connected to said chassis, a proximate end of said piston rod being connected to a proximate end of said cylinder. ### Claim 11 (depends on 1) The vehicle of claim 1 wherein each of said wheel rollers comprises two parts and said parts are disposed on a common rotational axis on opposite sides of a bracket supporting the roller. ### Claim 12 (depends on 1) The vehicle of claim 1 wherein said transverse plane is perpendicular to said longitudinal axis. ### Claim 13 (depends on 1) The vehicle of claim 1 further comprising at least four independent drive motors one for each of said at least four omnidirectional wheels, each of said drive motors being operable independently of the other drive motors and connected for driving a corresponding one of said omnidirectional wheels such that said omnidirectional wheels are capable of individual regulation with regard to speed and direction of rotation so that the vehicle can be made to move in a directionally stable manner forwards, backwards, sideways, and in directions intermediate therebetween. ### Claim 14 (depends on 1) The vehicle of claim 1 wherein one of said chassis has a U-shaped frame with opposing legs extending outwardly from a base to define a space bounded by said base and opposing legs, and the other of said chassis has a frame with a base portion and a neck portion extending longitudinally from one end of said base portion, and wherein said neck portion is positioned in said space and rotatably connected to the base of said U-shaped frame such that said U-shaped frame is capable of pivotal movement around said neck. ### Claim 15 (depends on 1) The vehicle of claim 1 wherein each of said opposing skids is engageable by a corresponding stabilizing element; wherein a stabilizer assembly of adjustable length is mounted on said rear chassis and is arranged to engage each of said stabilizing elements; and wherein said stabilizer assembly comprises a central support section fixedly attached to said rear chassis by support means extending through said front chassis, and left and right extensible arms extending perpendicular to said longitudinal axis and each connected at one end to said support section and at the other end to a fitting adapted to engage a corresponding one of said stabilizing elements. ### Claim 16 A vehicle for ground handling of equipment supportable on the ground by at least one ground engaging member engageable by a lifting element, said vehicle comprising: a front chassis having at least one omnidirectional wheel on each side of a longitudinal axis and arranged to support said front chassis for movement over the ground in any azimuthal direction, each of said front omnidirectional wheels comprising a rotatable front hub and a plurality of rollers secured to the periphery of the front hub with their rotational axis disposed angularly with respect to an axis of rotation of the front hub such that the roller axes of the respective front wheels intersect at a point rearwardly of the front hub axes; a rear chassis having at least one omnidirectional wheel on each side of said longitudinal axis of said vehicle and arranged to support said rear chassis for movement over the ground in any azimuthal direction, each of said rear omnidirectional wheels comprising a rotatable rear hub and a plurality of rollers secured to the periphery of the rear hub with their rotational axis disposed angularly with respect to an axis of rotation of the rear hub such that the roller axes of the respective rear wheels intersect at a point forwardly of the rear hub axes; pivot means for rotatably interconnecting the front chassis and rear chassis so that they are tiltable relative to each other in a plane transverse to said longitudinal axis; a lift assembly comprising a center section of adjustable length pivotally mounted on one of said chassis for pivotable movement in a plane substantially parallel to said longitudinal axis, left and right lever arms extending in the direction of said longitudinal axis and each connected at one end to said center section and at the other end to said lifting element, and a lifting mechanism connected to said center section for causing said pivotal movement such that, when said ground engaging member is engaged by said lifting element, said equipment may be lifted to an elevated position off of the ground by a lifting force acting substantially through the center of gravity of the equipment and enabling substantially the entire weight of the equipment to be borne by the lift assembly for transport by movement of said vehicle over the ground. ### Claim 17 (depends on 1) The vehicle of claim 1 for use in ground handling of a helicopter with two landing skids, each skid having a wheel fitting directly opposite the wheel fitting of the other skid by which a wheel can be mounted on the skid for movement of the helicopter while on the ground, wherein said lifting element is adapted for engaging said wheel fitting on each skid, and wherein the engagement between said lifting elements and said wheel fittings enables the helicopter to be lifted and transported by movement of said vehicle without any of said skid wheels being attached to the skids. ### Claim 18 (depends on 17) The vehicle of claim 17 wherein each of said opposing skids is engageable by a stabilizing element, and wherein said vehicle further comprises a stabilizer assembly of adjustable length mounted on said one chassis and including means for engaging said stabilizing element to prevent fore/aft teetering of said helicopter when in said elevated position. ### Claim 19 (depends on 18) The vehicle of claim 18 wherein said stabilizer assembly and said lift assembly are mounted on said rear chassis. ### Claim 20 (depends on 19) The vehicle of claim 19 wherein said stabilizer assembly comprises a central support section fixedly attached to said rear chassis by support means extending through said front chassis, and left and right extensible arms extending away from said longitudinal axis and each connected at one end to said support section and at the other end to a fitting adapted to engage said stabilizing element. ### Claim 21 (depends on 16) The vehicle of claim 16 wherein said center section of adjustable length comprises a support tube pivotally mounted on said one chassis for said pivotable movement and at least one extension tube telescoped within said support tube for extensible movement relative thereto, wherein a distal end portion of said extension tube is connected to a corresponding one of said lever arms, and wherein said lifting mechanism comprises an hydraulic piston and cylinder unit having one end pivotally connected to said support tube and another end pivotally connected to said one chassis. ### Claim 22 (depends on 21) The vehicle of claim 21 wherein said hydraulic unit comprises a piston rod with a distal end pivotally connected to said support tube and an hydraulic cylinder with a distal end pivotally connected to said chassis, a proximate end of said piston rod being connected to a proximate end of said cylinder. ### Claim 23 (depends on 16) The vehicle of claim 16 wherein said transverse plane is perpendicular to said longitudinal axis. ### Claim 24 (depends on 16) The vehicle of claim 16 wherein one of said chassis has a U-shaped frame with opposing legs extending outwardly from a base to define a space bounded by said base and opposing legs, and the other of said chassis has a frame with a base portion and a neck portion extending longitudinally from one end of said base portion, and wherein said neck portion is positioned in said space and rotatably connected to the base of said U-shaped frame such that said U-shaped frame is capable of pivotal movement around said neck.