Mobile omnidirectional device

Abstract

A mobile omnidirectional device having a base support, four wheels pivotally connected to the base support, each wheel being driven by a drive motor, a controller for individually controlling each of the drive motors, and a power source for powering the controller and the drive motors. The device provides a zero inch turning radius and can be configured as a jib hoist or a rolling transportation cart.

Claims

1. A mobile omnidirectional device comprising: a base support; a jib hoist connected to the base support; four wheels pivotally connected to the base support, each wheel being driven by a drive motor; a controller for individually controlling each of the drive motors, and a power source for powering the controller and the drive motors.

2. The mobile omnidirectional device of claim 1 wherein the wheels are constructed and arranged so that the mobile omnidirectional device has a turning radius of zero degrees.

3. The mobile omnidirectional device of claim 2 wherein the power source is comprised of a plurality of batteries.

4. The mobile omnidirectional device of claim 3 further including a battery recharger, which can be connected to an AC power source to recharge the plurality of batteries.

5. The mobile omnidirectional device of claim 1 further including a tethered control pendant connected to the controller for operating the mobile omnidirectional device.

6. The mobile omnidirectional device of claim 1 further including a receiver connected to the controller for operatively receiving operating commands from a wireless control device, for operating the mobile omnidirectional device.

7. A mobile omnidirectional device comprising: a base support; four wheels pivotally connected to the base support, each wheel being driven by a drive motor; a controller for individually controlling each of the drive motors; a power source for powering the controller and the drive motors; further wherein the wheels are constructed and arranged so that the mobile omnidirectional device has a turning radius of zero degrees; a jib column attached to the base support; a pivotally attached jib rail connected to the jib column which is raised and lowered with a roller screw actuator; the controller operably connected to the roller screw actuator to control the jib rail and jib column.

8. The mobile omnidirectional device of claim 7 wherein the device is sized to be portable, having a width of approximately 38.5 inches, a length of approximately 58 inches and a height of approximately 50 inches.

9. The mobile omnidirectional device of claim of claim 8 wherein the device weighs approximately 1750 pounds.

10. The mobile omnidirectional device of claim of claim 7 wherein the power source is four deep cycle batteries, which provide 48 VDC.

11. The mobile omnidirectional device of claim of claim 7 wherein the controller is operated by a tethered control pendant.

12. The mobile omnidirectional device of claim of claim 7 wherein the controller is operated by a wireless control device.

13. The mobile omnidirectional device of claim of claim 7 wherein the turning radius of the device is 0 inches.

14. The mobile omnidirectional device of claim 7 further including: a height adjustable platform, operatively connected to the controller to raise and lower the platform.

15. The mobile omnidirectional device of claim 14 wherein the device is sized to be portable, having a width of approximately 24 inches, the height adjustable platform can adjust in height from 18 to 24 inches, and the platform can adjust its height from end to end approximately ½ inch to maintain a level platform, and the platform can carry a load of at least 2500 lbs.

16. The mobile omnidirectional device of claim of claim 15 wherein the device weighs approximately 900 pounds.

17. The mobile omnidirectional device of claim of claim 15 wherein the power source is four deep cycle batteries, which provide 48 VDC.

18. The mobile omnidirectional device of claim of claim 15 wherein the controller is operated by a tethered control pendant.

19. The mobile omnidirectional device of claim of claim 15 wherein the controller is operated by a wireless control device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows a block diagram of the parts of the mobile omnidirectional device.

(2) FIG. 2 shows a side perspective view of the device of FIG. 1, configured as a rolling transportation cart.

(3) FIG. 3 shows a side perspective view of the device of FIG. 1, configured as a jib hoist.

(4) FIG. 4 shows a top perspective view of the rolling transportation cart embodiment.

(5) FIG. 5 shows a top and side perspective view of the jib hoist embodiment.

(6) FIG. 6 shows the jib hoist embodiment with parts shown schematically.

(7) FIG. 7 shows the rolling transportation cart embodiment with parts shown schematically.

(8) FIG. 8 shows the wider jib hoist wheel and drivetrain.

(9) FIG. 9 shows the narrower rolling transportation cart wheel and partially embedded drivetrain.

(10) FIG. 10 shows how the drivetrain is partially embedded into the wheel.

(11) FIG. 11 shows how the drivetrain is partially embedded into the wheel.

(12) FIG. 12 shows a front and side perspective view of the jib hoist embodiment, with the jib rail in the down position.

(13) FIG. 13 shows an operator using the tethered pendant controller to operate the jib hoist.

(14) FIG. 14 shows a side view of the jib hoist with the jib rail partially raised.

(15) FIG. 15 shows a view of the jib hoist with the hook in its maximum height position.

DETAILED DESCRIPTION OF THE INVENTION

(16) Referring now to FIG. 1, a block diagram of the parts of the mobile omnidirectional device is shown generally at 10. There are four drive motor and wheel sets, 12 and 14, 16 and 18, 20 and 22, and finally 24 and 26. The wheels can be any type of wheel, but preferably for the zero turning radius feature are Mecannum wheels which are pivotally mounted to provide continuous contact of all 4 wheels with the ground. A crossed roller bearing is used to support the pivot mount. The drive motor is semi-embedded into the Mecannum wheel, and while any drive motor can be utilized, preferably a custom frameless servo is used. The wheels and drive motors are connected to a base support, discussed further below. Power to drive the motors and wheels is provided at 28, and as described in more detail below, is preferably four 12 volt batteries with an included recharger. The controller which operates the mobile omnidirectional device is shown at 30, and can be operated with a tethered pendant controller or a wireless remote control device. In the preferred embodiment the operator walks behind the device using the wired tethered pendant controller to operate the device.

(17) FIG. 2 shows a side perspective view of the device of FIG. 1, configured as a rolling transportation cart. Because the rolling transportation cart is only 2 feet wide, a narrower Mecannum wheel is used than for the jib hoist embodiment discussed below in connection with FIG. 3. The base support is shown at 32, and support the components of the device, such as the wheels, motors, batteries and so forth. A height adjustable frame 34 is attached to the device, and a pair of lift actuators are provided for lifting the frame 34 from a height of 18 to 24 inches, although any desired height could be provided. Alignment couplers attached to the lift actuators also permit the end to end height to be adjusted by up to ½ inch to maintain a level platform, which is attached to the frame (not shown in FIG. 2.

(18) FIG. 3 shows a side perspective view of the device of FIG. 1, configured as a jib hoist. The jib hoist embodiment provides a lift motor 36, which can be any commercially available lift motor, but preferably a Kollmorgen servo is used. The lift motor 36 drives a lift actuator 38, which can be any commercially available lift actuator, but is preferably a Tolomatic roller screw device. The lift actuator 38 is connected to the jib rail 40, which is pivotally connected to a jib column 42. The jib hoist is operated by the tethered pendant controller 44, which drives the device and operates the jib hoist. A set of four handles 46 are attached to the device 10 to lift the device for portability purposes. The jib hoist configured device is sized to be portable, having a width of approximately 38.5 inches, a length of approximately 58 inches and a height of approximately 50 inches, and weighs approximately 1750 pounds. With the jib rail in the down position, the device is about 50 inches high, and with the jib rail in the maximum up position, the maximum hook height is approximately 78 inches high.

(19) FIG. 4 shows a top perspective view of the rolling transportation cart embodiment, which the batteries arranged on the base support at 48, 50, 52 and 54. The four 12 volt batteries provide 48 VDC and can operate the device continuously for at least 4 hour minimum, before needing to be recharged via recharger 56. Servo motors 12, 16, 20 and 24 are narrower, and together with the narrower wheels allow the rolling transportation cart embodiment to have a width of 24 inches or less.

(20) FIG. 5 shows a top and side perspective view of the jib hoist embodiment. In this embodiment, the batteries 48, 50, 52 and 54 are stacked at the back end of the device.

(21) FIG. 6 shows the jib hoist embodiment with parts shown schematically. 55 shows the crossed pivot roller bearing.

(22) FIG. 7 shows the rolling transportation cart embodiment with parts shown schematically. 55 is the crossed pivot roller bearing. 58 is the gearbox and 59 is the drivetrain hub.

(23) FIG. 8 shows the a jib hoist wheel 14, which is a two roller wide version of the Mecannum wheel, the gearbox 58 and the drive motor 12.

(24) FIG. 9 shows a rolling transportation wheel 14, which is a single roller wide version of the Mecannum wheel and the custom frameless servo motor 12.

(25) FIG. 10 shows how the drivetrain is partially embedded into the wheel. the crossed roller bearing is shown at 55, the drivetrain hub is shown at 59 and the frameless servo motor is shown at 12. The crossed roller bearing and drivetrain are partially embedded in the wheel 14.

(26) FIG. 11 shows how the drivetrain is partially embedded into the wheel. The drivetrain hub is shown at 59, the gearbox is shown at 58 and the servo motor is shown at 12. FIG. 12 shows a front and side perspective view of the jib hoist embodiment, with the jib rail in the partially down position.

(27) FIG. 13 shows an operator using the tethered pendant controller to operate the jib hoist.

(28) FIG. 14 shows a side view of the jib hoist with the jib rail partially raised.

(29) FIG. 15 shows a view of the jib hoist with the hook in its maximum height position.

(30) The above disclosure is intended to be illustrative and not exhaustive. This description will suggest many variations and alternatives to one of ordinary skill in this field of art. All these alternatives and variations are intended to be included within the scope of the claims where the term “comprising” means “including, but not limited to.” Those familiar with the art may recognize other equivalents to the specific embodiments described herein which equivalents are also intended to be encompassed by the claims.

(31) Further, the particular features presented in the dependent claims can be combined with each other in other manners within the scope of the invention such that the invention should be recognized as also specifically directed to other embodiments having any other possible combination of the features of the dependent claims. For instance, for purposes of claim publication, any dependent claim which follows should be taken as alternatively written in a multiple dependent form from all prior claims which possess all antecedents referenced in such dependent claim if such multiple dependent format is an accepted format within the jurisdiction (e.g. each claim depending directly from claim 1 should be alternatively taken as depending from all previous claims). In jurisdictions where multiple dependent claim formats are restricted, the following dependent claims should each be also taken as alternatively written in each singly dependent claim format which creates a dependency from a prior antecedent-possessing claim other than the specific claim listed in such dependent claim below.

(32) This completes the description of the preferred and alternate embodiments of the invention. Those skilled in the art may recognize other equivalents to the specific embodiment described herein which equivalents are intended to be encompassed by the claims attached hereto.