A wheel assembly comprising a shaft configured for rotatable connection to an object to be rendered mobile for rotation around a first axis, a hub rotatably connected to the shaft for rotation around a second axis, and two hemispherical members rotatably connected to the hub for rotation around a third axis. The shaft comprises at least one angled portion to define the first axis while the non-angled portion defines the second axis.

The present disclosure relates in general to a ball wheel, assembly and method of use for providing omni-directional rolling support to an article of manufacture such as, e.g., mechanics creepers, crates, carts, dollies, stretchers, gurneys, litters, beds, prams, transports, and luggage. One aspect of the present disclosure includes a ball wheel for a ball wheel assembly. The ball wheel comprises a roughly spherical shaped body having a plurality of features on an exterior surface of the body configured to assist the ball wheel in overcoming obstacles/debris in the surrounding environment and being used on uneven surfaces. Another aspect of the present disclosure includes a ball wheel assembly comprising the ball wheel. The ball wheel assembly may include a housing with an interior socket and shock absorber that allows the ball wheel to rotate therein while providing a cushioning effect. A still further aspect of the present disclosure includes a plurality of ball wheel assemblies mounted on an article of manufacture. Yet another aspect of the present disclosure is a method of using the ball wheel assembly on an article of manufacture. An intended purpose of the present disclosure is to provide a ball wheel and assembly for an article of manufacture that is designed to overcome obstacles/debris in the surrounding environment and being used on uneven surfaces via the combination of the cushioning effect of the shock absorber and the plurality of features of the ball wheel.

The present disclosure relates to a robot cleaner, more particularly, to a robot cleaner that may be escaped from a trapped state by an escaping unit formed in an inner surface of a wheel, when a body of the robot cleaner is caught in a protrusion to put the robot cleaner in a trapped state where the robot cleaner cannot run during the running on the floor of a cleaning area.

The present invention provides a system for moving an object within an environment, wherein the system includes: one or more modular wheels configured to move the object, wherein the one or more modular wheels include: a body configured to be attached to the object; a wheel; a drive configured to rotate the wheel; a sensor mounted to the body; and, one or more processing devices configured to control the one or more modular wheels in accordance with signals from the sensor to thereby rotate the wheel and move the object.

An article movement system includes an article and at least one ball wheel. The article has first and second article surfaces meeting at a first article edge. The ball wheel is located along the first article edge and includes a ball, a bearing arrangement and a shell. The ball engages a surface underlying the article, the bearing arrangement supports the ball for omni-directional rotational movement, and the shell is located along the first article edge and contains the ball and the bearing arrangement. The shell defines a non-circular ball opening through which a portion of the ball extends to contact the underlying surface. The article, the bearing arrangement and the shell are configured such that the ball wheel is able to support the article for omni-directional rolling motion over the underlying surface with either of the first and article surfaces parallel thereto, and at any orientation therebetween.

A caster apparatus is provided. In one embodiment, there is provided a caster apparatus including a caster wheel and a first driving wheel disposed on a first side of the caster wheel. The first driving wheel is configured to be driven by a first motor. A second driving wheel is disposed on a second side opposite to the first side of the caster wheel. The second driving wheel is configured to be driven by a second motor different from the first motor. A first actuator is configured to move the first driving wheel in a vertical direction to a ground according to a curvature of the ground. A second actuator is configured to move the second driving wheel in a vertical direction to the ground according to a curvature of the ground, wherein the first and second driving wheels are configured to steer the caster wheel.

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.

An autonomous mobile device may use a pair of main wheels and a caster assembly to provide mobility. The main wheels are driven by motors, providing steering and movement. Each main wheel may include a cover that conceals and protects a hub of the main wheel from the external environment. The covers may be held in place by elastomeric posts, allowing easy changeout. The caster assembly has a minimal overall height and a field replaceable caster wheel. The caster wheel may include a target that is detectable by a non-contact sensor to detect caster wheel rotation. The caster wheel may comprise an axle, caster wheel hub, and a pair of caster wheel endcaps on each end of the axle. A set of features on the caster wheel hub and each of the caster wheel endcaps provide a labyrinthian path that prevents debris from fouling around the axle.

A wheel for a non-motorized vehicle (e.g., a shopping cart) can include a housing assembly and a tread assembly. The housing assembly can be configured to sealingly house electronics or other components. The tread assembly can removably mate with the housing assembly such that the electronics or other components remain closed and/or sealed within the housing assembly when the tread assembly is mated or unmated with the housing assembly.

A caster attachment is provided. The caster attachment includes a body portion having an angled plate attached to a bottom plate. The angled plate and bottom plate fit an outside corner of a case. A fastener receiving portion is affixed to the body portion. The body portion has a hole for receiving a rivet. The fastener receiving portion has a threaded bore. There is a fastener that is attached to a wheel. The fastener is attachable and detachable to the threaded bore.