Devices, Systems, and Methods for controlled movement of the robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The robot may include a plurality of omni-directional wheels affixed to the robot base allowing multiple-axis movement of the robot. The robot may further include sensors for detecting a desired movement of the robot base and a control system responsive to the plurality of sensors for controlling the multiple-axis movement of the robot by actuating two or more of the plurality of omni-directional wheels.

An omni-directional wheel for a pool vacuum head includes a first frame and a second substantially identical frame, each frame having a hub rotating around a common axis, lower supports extending radially from the hub, risers extending from the hub along the common axis, and upper supports individually coupled to the risers, the upper supports extending radially from the common axis. Rollers coupled to the first frame and the second frame, are radially spaced from the common axis on each frame. The rollers rotate normal to the common axis to impart omni-directional movement. When the first frame and the second frame are interlocked, the risers on the first frame engage the hub on the second frame, and the lower supports on the first frame engaging the upper supports on the second frame, maintaining the rollers in a staggered arrangement around the wheel.

A mecanum-wheeled vehicle (1), in particular for transporting a load, comprising a chassis (5) extending along a longitudinal axis (L) and a width axis (B) oriented perpendicular to the same, said chassis comprising at least four mecanum wheel drives (2; 2a to 2d) which can be controlled via control means (13) for carrying out an omnidirectional operation of the mecanum-wheeled vehicle (1), wherein the chassis (5) has a first chassis section (21a) with at least two (2a, 2b) of the mecanum wheel drives (2; 2a, 2b, 2c, 2d) and a second chassis section (21b) with at least two (2c, 2d) of the mecanum wheel drives (2; 2a, 2b, 2c, 2d). According to the invention, the first and the second chassis sections (21a, 21b) are arranged adjacent along a first adjustment axis (E1) and are mechanically connected to one another such that the spacing between same can be varied, and the spacing between the first and second chassis sections (21a, 21b) is adjustable along a first adjustment axis (E1) by controlling at least one of the mecanum wheel drives (2; 2a, 2b, 2c, 2d) of the first chassis section (21a) and/or of the second chassis section (21b) by means of the control means (13).

A container handling vehicle for lifting a storage container from an underlying framework structure includes a vehicle body and a container lifting assembly for lifting the storage container. The vehicle body includes a wheeled base, a support, and at least one cantilevered section. The wheeled base includes a first set of wheels, arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a rail grid at a top level of the underlying framework structure, and a second set of wheels arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction on the rail grid, the second direction being perpendicular to the first direction. The support includes a lower end connected to the wheeled base and an upper portion connected to the cantilevered section. The container lifting assembly includes a lifting frame and a plurality of lifting bands. The lifting frame is for releasable connection to a storage container and suspended from the cantilevered section by the lifting bands, such that the lifting frame may be raised or lowered relative to the cantilevered section. The cantilevered section extends laterally from the upper portion of the support and is arranged to rotate horizontally about a vertical axis relative to the wheeled base between a first position and a second position. In the first position, the cantilevered section extends beyond the wheeled base, such that the lifting frame may retrieve or deliver a storage container from/to a storage column of the framework structure. In the second position the cantilevered section extends in an opposite direction relative to the direction in the first position. The support holds the cantilevered section above the wheeled base at a height corresponding to a height of multiple storage containers, such that a vertical distance between the lifting frame, when the lifting frame is in an upper position, and the lower end of the support is larger than the height of two storage containers stacked on top of each other.

A multidirectional wheel for traversing a surface is provided that includes a magnet and a plurality of rollers disposed around an outer periphery of each of the hubs of the wheels. The rollers are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel. The rollers are supported by a plurality of magnetically-inducible brackets attached to the hub. The brackets are optimally sized and shaped to reduce the space between the magnetized materials of the wheel and the surface upon which the wheel travels.

The disclosure provides a wheel for an omnidirectional moving device which takes fewer man-hours for manufacturing, and a manufacturing method of the wheel for an omnidirectional moving device which takes fewer man-hours. The wheel includes an annular core body 36; a plurality of bearings 75 each including an inner ring 76 and an outer ring 77 relatively rotatable with respect to the inner ring, and the inner ring being fixed to an outer peripheral surface of the core body; and a plurality of rollers 37 each fixed to the outer ring and rotatably supported by the core body via the bearing. The inner ring is tightened and fitted to the core body.

A wheel for an omnidirectional moving device includes an annular core body formed by connecting joint members in an annular shape, and free rollers rotatably supported by the core body. Each of the joint members includes a shaft portion having a first end and a second end, a first connecting portion provided at the first end, and a second connecting portion provided at the second end. Each of the free rollers is rotatably supported by the shaft portion of the corresponding joint member. The first connecting portion of each of the joint members is rotatably connected to the second connecting portion of the adjacent joint member. The first end of each of the joint members abuts on the second end of the adjacent joint member so that a rotation range of the adjacent joint members is restricted. A cushioning material is provided between the first end and the second end.

This application describes systems, devices, computer readable media, and methods for the function and operation of robotic carts. A robotic cart may include a base component configured for the receipt of a payload, a battery unit, and a mobility apparatus. The robotic cart may include a handlebar component coupled with the base component. The handlebar unit may include a sensor unit configured to transmit a hand detection message when the handlebar unit is grasped by one or more hands and to transmit a force direction message indicating a two-dimensional direction associated with a directional force applied by one or more hands. The robotic cart may be configured to map the area around it and to autonomously move the robotic cart along a path to perform a task.

In a frictional propulsion device comprising a frame, a main wheel including driven rollers rotatably supported by an annular core member about a tangential direction and a pair of drive disks each carrying drive rollers rotatable about a rotational center line at an angle with respect to both a tangential line of the drive disk and the rotational center line of the drive disk such that the drive rollers at least partly engage the driven rollers, each drive disk includes a hub rotatably supported by the support shaft, a disk member attached to a peripheral part of the hub, and holder beams arranged circumferentially between the hub and the disk member such that each holder beam is attached to the hub at a first end thereof and to the disk member at a second end thereof, each drive roller being rotatably supported by a corresponding adjoining pair of holder beams.