A robotic vehicle can include a plurality of motors coupled to a plurality of gearboxes, each gearbox of the plurality of gearboxes configured to be rotated, a plurality of nested driveshafts coupled to the plurality of gearboxes and including at least a first driveshaft and a second driveshaft, and a plurality of appendages operably coupled to the plurality of gearboxes. A particular appendage of the plurality of appendages can be configured to be rotated in response to a rotational motion of the first driveshaft. The robotic vehicle can include a plurality of wheels coupled to the plurality of appendages and configured to rotate about a plurality of wheel axles. Each wheel of the plurality of wheels can be configured to cause the robotic vehicle to be transported across a contacting surface in response to the rotational motion of the second driveshaft.

An automated guided vehicle (AGV) includes a suspension system for movably coupling wheels of the AGV with its frame. The system includes a rocker pivotally attached to the frame. A drive wheel and casters are mounted to the rocker on opposite sides of the rocker pivot axis so that the drive wheel and the pair of casters move together about the pivot axis in the same rotational direction when the rocker tilts. The system can be employed in a simple and elegant manner to ensure continuous traction between the drive wheel and the ground while protecting the drive unit from overload when the AGV traverses uneven terrain.

A drive device for a handling trolley, including: a chassis; a wheel carrier; a drive wheel; a steering motor for rotating the wheel carrier relative to the chassis; a reduction gear connecting the steering motor to the wheel carrier, the reduction gear including a planetary gear set including an internal sun gear, at least one planet gear, and a planet carrier on which the planet gear is mounted, a ring gear surrounding the internal sun gear and the planet gear. The shaft of the steering motor is fixed relative to the internal sun gear, the wheel carrier is fixed relative to either the planet carrier or the ring gear, and the chassis is fixed relative to the other one of the two components.

A omnidirectional power steering system which can be used on wheeled vehicles that can travel on land without relying on tracks, the device comprises horizontal steering motors (1), teeth (2), bearing balls (3), a horizontal rotary disc (4), brake discs (5), a space for rotation of the extended brake discs (6), a rotating shaft (7), fixing members (8), an inner layer of the wheel hub motor (9), a tyre (10), a wheel hub (11), a space for tyre rotation (12), an operation space for replacing the tyre (13), a housing (14), brake calipers (15), an outer layer of the wheel hub motor (16), an A-arm (17), a control box (18), single chip microcomputers (19), a control panel (20), sensors (21), connecting rods (22), each tyre (10) can rotate to any angle independently, and can also be matched with other tyres to rotate a specific angle, the horizontal rotary disc (4) is a horizontal large gear, a wheel hub (11) is arranged in the middle space, and a wheel hub motor is mounted in the wheel hub (11), and the wheel hub motor is divided into the rotating layer and the non-rotating layer, the non-rotating layer is fixed on the horizontal rotary disc (4), the rotating layer of the wheel hub motor vertically rotates the wheel frame to drive the wheels to move forwards and backwards. When a steering wheel steers, a connection to the control box (18) is present, the control box (18) issues a signal to an independent turning power source, so that the independent turning power source controls the horizontal rotary disc (4) to steer horizontally, and the control box (18) controls each steering direction and each angle of the plurality of wheels according to a driver-selected steering mode. The steering system can achieve parallel parking, a 180 degree in situ zero rotation radius U-turn, a movement toward any direction from a static position and oblique movement, and can use a drift mode when steering at high speed and a plurality of wheel steering modes at different speeds. Inner and outer side wheels cooperative steering angles are optimized, and tyre wear-outs are significantly reduced.

Example control systems for automated power management of a machine are described herein. In some examples, the control system can be used with a motive machine. The features are described with reference to a hybrid powered sweeper-scrubber machine, but is not limited as such. The machine can include a main machine controller (MMC) operably coupled to an engine, and a power module operably coupled to the MMC by a controller area network (CAN) bus. A sub-system, including a sub-system having motors, can be operably coupled to the power module by the CAN bus. To provide automated power control, the power module can monitor a load of the sub-system, and using the monitored load of the sub-system, the power module can communicate sub-system load information to the MMC. The MMC can automatically adjust an engine speed based on the sub-system load information and the selected functional mode of the machine.

A drive device for a handling trolley, including: a chassis; a wheel carrier; a drive wheel; a steering motor for rotating the wheel carrier relative to the chassis; a reduction gear connecting the steering motor to the wheel carrier, the reduction gear including a planetary gear set including an internal sun gear, at least one planet gear, and a planet carrier on which the planet gear is mounted, a ring gear surrounding the internal sun gear and the planet gear. The shaft of the steering motor is fixed relative to the internal sun gear, the wheel carrier is fixed relative to either the planet carrier or the ring gear, and the chassis is fixed relative to the other one of the two components.

A bogie axle system having an axle housing, a planetary gear set, a chain housing, and a slew bearing assembly. The axle housing may at least partially receive planetary gear set. The chain housing may receive a drive sprocket unit. The slew bearing assembly may pivotally couple the chain housing to the axle housing.

The present disclosure provides an example motor system. The motor system includes a steering motor with a first rotor positioned within a first stator. The steering motor is configured to rotate the first rotor about a steering axis. The motor system also includes a traction motor including a second stator positioned within a second rotor. The second rotor includes a traction surface defining a wheel. The traction motor is configured to rotate the second rotor about a rolling axis, and the traction motor is positioned within an opening in the first rotor. The motor system also includes an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis.

The present disclosure provides an example motor system. The motor system includes a steering motor with a first rotor positioned within a first stator. The steering motor is configured to rotate the first rotor about a steering axis. The motor system also includes a traction motor including a second stator positioned within a second rotor. The second rotor includes a traction surface defining a wheel. The traction motor is configured to rotate the second rotor about a rolling axis, and the traction motor is positioned within an opening in the first rotor. The motor system also includes an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis.

A bogie axle system having an axle housing, a planetary gear set, a chain housing, and a slew bearing assembly. The axle housing may at least partially receive planetary gear set. The chain housing may receive a drive sprocket unit. The slew bearing assembly may pivotally couple the chain housing to the axle housing.