Automated storage and retrieval systems which include robots that move along ceilings and/or walls to retrieve and/or transport goods. The robots use magnetic adhesion to hold to the surfaces. The robots adjust the magnetic adhesion force in response to changes in weight or other conditions.

Aspects of the present disclosure are directed to, for example, drive systems for transport devices. In one example embodiment, a drive system is disclosed including at least two drive wheels, at least one wheel bearing, at least one rim of the at least one of the drive wheels mounted by means of the at least one wheel bearing, at least one drive of the at least one of the drive wheels is arranged within the at least one wheel bearing, and at least one braking device coupled to at least one of the drive wheels. The at least two drive wheels are aligned on a common first axis, the drive wheel axis of rotation, which is angled relative to a second axis, the pendulum axis, and a third axis, a pivot axis, is likewise arranged at an angle relative to the first and second axes.

A device for self-extraction of a vehicle using a towing rope made in the form of a gripper, including at least three arms arranged circumferentially and having a shape that allows installation on the drive wheel of the vehicle. The device has a traverse with a threaded opening in the center where the threaded rod is installed, at the end of the rod facing the vehicle wheel in the operating position, a hub stop heel is installed. The gripper's arms have two L-shaped parts, the first parts with their side that is oriented along the axis of the device are pivotally installed on the traverse, and the second parts are rigidly connected to the first parts at a section of their sides oriented in the radial direction from the axis of the device.

Drive disks are configured to rotate a main wheel by applying a frictional force thereto. Each of the drive disks includes a base and a plurality of rollers. The base includes a first sheet metal member and a second sheet metal member. The first sheet metal member includes a first central part and a plurality of first arm parts. The second sheet metal member includes a second central part and a plurality of second arm parts. Each of the rollers has a first end and a second end. Each of the first arm parts includes a first supporting part and a second supporting part. Each of the second arm parts includes a third supporting part and a fourth supporting part. The first supporting part and the second supporting part are inclined to each other. The third supporting part and the fourth supporting part are inclined to each other.

An omnidirectional wheel includes a hub, a number of wheels, and a number of rubber covers. The hub defines a shaft hole passing through the hub. Each of the wheels is rotationally mounted on the hub and spaced around the shaft hole. Each of the rubber covers is sleeved on a corresponding one of the wheels and includes a three-dimensional pattern. The rubber covers prevent the hub from directly contacting the ground.

The present invention relates generally to agricultural devices, and in particular, to a gauge wheel system for use in an agricultural device. In one aspect of the invention there is provided a gauge wheel for use on cultivation equipment comprising a hub member having a central bearing portion for mounting to the cultivation equipment; a peripheral flange portion displaced laterally with respect to the hub member; and a resilient coil member mounted to a surface of the hub member at a proximal end and comprising at least two windings that extend between the hub member and the peripheral flange portion to terminate at a free distal end adjacent the peripheral flange portion; wherein the free distal end of the resilient coil member is constrained to prevent contact of the resilient coil member with the peripheral flange portion.

A new and improved anatomical imaging system which includes a new and improved movement system, wherein the movement system comprises an omnidirectional powered drive unit and wherein the movement system can substantially eliminate lateral walk (or drift) over the complete stroke of a scan, even when the floor includes substantial irregularities, whereby to improve the accuracy of the scan results and avoid unintentional engagement of the anatomical imaging system with the bed or gurney which is supporting the patient. The present invention also comprises the provision and use of Liddiard wheels.

A two-wheel compact magnetic crawler vehicle for traversing and inspecting surfaces is disclosed. The crawler comprises a chassis. Two independently actuated magnetic drive wheels are spaced apart in a lateral direction and mounted to the chassis by a hinged joint enabling each wheel to tilt in response to the surface curvature. A probe wheel is provided at the midpoint between the two drive wheels and laterally in line therewith. A spring-assisted probe carrier passively moves the probe wheel vertically relative to the chassis in response to changes in the surface curvature. Additionally, the vehicle includes a probe angle normalization mechanism comprising spring-loaded, vertically moveable, ball casters positioned symmetrically about the probe wheel. The combined utilization of the probe carrier and the caster carrier passively maintain the probe contacting the surface, the chassis level, and the probe normal to the surface irrespective of changes in the surface curvature with vehicle movement.

The present invention relates to a motor-wheel for an omni-directional motion vehicle, comprising a ring-shaped structure with a central axis, presenting an outer radial surface and an inner radial surface, whereby the outer radial surface comprises a plurality of rollers that are rotatable about an inclined axis relative to the central axis, and the inner radial surface is adapted to be connected to a hub-motor such that the hub-motor is a load bearing element of the wheel.

The Reconfigurable Wheel-Track (RWT) is a novel mechanism that allows a wheel to transform into a track, and vice-versa. The wheel permits a vehicle to travel quickly over smooth and semi-rough terrain, then, on-the-fly, transform rapidly into a powered track for crossing extreme terrain. The reconfigurable wheel-track consists of several main components: an outer tire/tread, drive mechanisms for the wheel and track, support mechanisms for the outer tread when in either wheel mode or track mode, and a reconfiguration mechanism that facilitates the transformation from a wheel to a track and vice-versa. The reconfigurable wheel-track includes sensing, actuation, and controls to facilitate efficient and effective transition from wheel to track and vice-versa, and securely maintain each shape.