GB2260108A - Motor-driven steerable wheel units eg. for T.V. camera pedestals - Google Patents

Motor-driven steerable wheel units eg. for T.V. camera pedestals Download PDF

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Publication number
GB2260108A
GB2260108A GB9120993A GB9120993A GB2260108A GB 2260108 A GB2260108 A GB 2260108A GB 9120993 A GB9120993 A GB 9120993A GB 9120993 A GB9120993 A GB 9120993A GB 2260108 A GB2260108 A GB 2260108A
Authority
GB
United Kingdom
Prior art keywords
hub
wheel
axle
steering
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB9120993A
Other versions
GB9120993D0 (en
Inventor
Richard Arthur Lindsay
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vitec Group PLC
Original Assignee
Vinten Group PLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vinten Group PLC filed Critical Vinten Group PLC
Priority to GB9120993A priority Critical patent/GB2260108A/en
Publication of GB9120993D0 publication Critical patent/GB9120993D0/en
Publication of GB2260108A publication Critical patent/GB2260108A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B62D7/026—Steering linkage; Stub axles or their mountings for pivoted bogies characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B62D7/04—Steering linkage; Stub axles or their mountings for pivoted bogies with more than one wheel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
    • B60K2007/0084—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel

Abstract

The wheel unit has a hub (13) which is steerable about a vertical axis (14) by an independently mounted steering motor (28) and a horizontal axle (16) carrying a wheel (18) offset from the steering axis of the hub. Drive shaft (19) is driven by an independently mounted drive motor (25) about an axis coincident with the steering axis (14) and has a geared connection (22, 23) to the axle (16). The ratio of the radius (R1) of the wheel to the offset (R2) of the wheel from the steering axis is made equal to the ratio (R3 : R4) of the radii of the gears in the driving connection between the shaft and axle whereby rotating the hub to perform a steering movement does not impart any translation movement through the wheel and driving the wheel through the drive motor does not impart any steering movement. The camera pedestal may have a triangular base with motorised steerable wheel units at its apices. <IMAGE>

Description

IMPROVEMENTS IN OR RELATING TO MOTOR DRIVEN STEERABLE WHEEL UNITS FOR USE IN MOTORISED VEHICLES This invention relates to motor driven steerable wheel units for motorised vehicles.
There are many applications for motor driven steerable wheel units for payload carrying vehicles required to move with precision from location to location under the control of automatic guidance systems. For example the vehicle may comprise a motor driven pedestal for carrying a T.V camera and which moves from location to location around a studio floor navigated by an automatic guidance system. Such pedestals commonly have a triangular form base with three wheel units located at the apices of the triangle, two of which are motor driven steerable units and the other of which is a free-wheeling castor mounted unit.The motor drive units have motor driven steering mechanisms, the steering axes of which extends vertically through the points of contact of the wheels with the ground Steering movements of these units when the pedestal is at rest or only moving slowly inevitably causes some scrub or skidding of the wheels over the surface on which they are engaged which can result in small unwanted translation movement of the pedestal leading to inaccuracies in positioning. Furthermore, the wiring for the motor drives for the wheel units including the wiring for powering and monitoring the motor of drives limits the extent to which the units can be rotated to no more than one and a half turns of the unit or so. This means that the wheel units must be periodically "unwound" before the movement of the vehicle can progress.
This invention provides a motor driven steerable wheel unit comprising a hub, means to mount the hub to steer about a vertical axis, an axle mounted in the hub for rotation about a horizontal axis, a wheel mounted on the axle offset from the steering axis of the hub, a vertical drive shaft mounted at its lower end in the hub for rotation about an axis coincident with the steering axis of the hub, having a geared connection to the axle supported in the hub, a drive motor mounted independently of the hub having a driving connection to the shaft for rotating of the shaft and thereby the wheel supported by the axle and a steering motor supported independently of the hub having a driving connection to the hub for steering the hub in the required direction, the ratio of the radius of the wheel to the offset of the wheel from the steering axis being equal to the ratio of the radii of the gears in the driving connection between the shaft and axle whereby rotating the hub to perform a steering movement does not impart any translation movement through the wheel and driving the wheel through the drive motor does not impart any steering movement.
Preferably the axle projects on either side of the hub and a pair of wheels are mounted on the projecting ends of the axle respectively, one wheel being fixed to the axle for rotation therewith-and the other wheel being mounted for free rotation with ~' respect to the axle.
In the latter arrangement, the hub may be supported in a hub carrier pivotally mounted about a horizontal axis below and at right angles as viewed in plan to the axle about which the Xub can pivot to allow the axle supporting the pair of wheels to rock about said horizontal axis when moving over an uneven surface to accommodate irregularities in the surface.
In either of the above arrangements the geared connection between the drive shaft and axle may comprise bevel gears secured respectively to the drive shaft and axle.
The following is a description of some specific embodiments of the invention, reference being made to the accompanying drawings in which:- Figure 1 is a diagramatic view of a motor driven steerable wheel unit for a camera carrying pedestal in accordance with the invention; Figure 2 is a detailed view of a motor driven drive unit in accordance with the invention; and Figure 3 is a cross-section on the line 2-2 on Figure 2.
Referring firstly to Figure 1 of the drawings, there is shown a motor driven steerable drive wheel unit for a camera pedestal. A base plate 10 to be mounted on the chassis of the pedestal is indicated at 10 having an opening 11 to receive the drive unit indicating at 12. The drive unit comprises a hub 13 mounted for rotation about a vertical axis 14 in a bearing 15 supported around the underside of the aperture in the base.
The hub supports the horizontally extending axle 16 mounted in bearings 17 on either side of the hub.
The axle projects from one side of the hub and a drive wheel 18 is mounted on the projecting end of the axle.
A vertically extending drive shaft 19 is mounted in upper and lower bearings 20, 21, supported in the hub. The lower end of the drive shaft carries a bevel gear 22 which meshes with a corresponding bevel gear 23 secured to the axle 16 whereby rotation of the drive shaft 19 rotates the axle and thereby drives the wheel 18.
The upper end of the axle 19 projects above the upper end of the hub and has a large gear wheel 24 secured thereto. Electric drive motor 25 is mounted on the base of the pedestal and has an output shaft 26 to which a drive pinion 27 is secured which meshes with the gear wheel 24 to drive the shaft 19.
A separate electric drive motor 28 for turning the hub 13 for steering of the drive unit is mounted on the base of the pedestal and has an outward shaft 29 to which a pinion 30 is connected. The pinion 30 meshes with a large gear 31 secured to the upper end of the hub for rotating the hub.
In order to ensure that the steering of the hub does not cause translation of the unit and driving of the hub does not cause steering, the ratios of the radii of the bevel gears 22 and 23 are chosen to equal the ratios of the radius of the wheel 18 to the offset of the wheel from the vertical axis 14. The rationale for this is as follows: Let R1/R2 = R3/R4 Steer: Let steer rotational velocity be w (drive input stationary) (a) wheel rotational velocity generated by bevels is W. (R4/R3) (b) for steer velocity w, wheel is required to rotate at W. (R2/R1) Since R2/R1 = R4/R3, conditions (a) and (b) are mutally compatible and drive input is unaffected.
Drive: Let drive input torque be T (steer input stationary) (a) Torque reaction on axle case = T (b) Torque on axle case produced by offset thrust force is - T (R3/R4). (R2/R1) = - T Therefore torque reaction and thrust torque cancel and steer input is unaffected.
Reference is now made to the embodiment of the invention illustrated in Figures 2 and 3 of the drawings. Figures 2 and 3 of the drawings show an actual motor driven steerable drive wheel unit for a camera pedestal embodying the same principles of operation as the diagrammatic version illustrated in Figure 1 of the drawings and like parts have been allotted the same reference numerals.
A first important difference is that the hub 13 supports a double wheel assembly. This is effected by extending the axle 16 on both sides of the hub, one projecting end of the axle carrying the wheel 18, the wheel boss 18a being secured to the axle by a transversely extending pin 33. The other end of the axle projects from the hub and carries a similar wheel 32 mounted on the projecting end of the axle on spaced ball bearing units 34 to allow free rotation of the wheel with respect to the axle. Thus, only wheel 18 is driven by the shaft 19, the other wheel 32 freewheeling on the spindle 16 as the wheel 18 is driven and/or steered.
A further significant difference is that hub 13 is not mounted directly on base plate 10 but rather is supported in a hub carrier indicated generally at 35.
The hub carrier has an upstanding cylindrical boss 37 at its centre. A bearing 15 is mounted in base plate 10 as before and the boss 37 engages from below in the inner race of the bearing and is secured by studs (not shown) to gear 31 which engages the inner race from above. The inner diameter of boss 37 is considerably greater than that of the drive shaft 19 which passes vertically through the boss to provide a clearance indicated at 38 between the drive shaft and boss for a purpose described below. Likewise, the inner diameter of gear 31 is considerably greater than the diameter of the drive shaft to provide a clearance indicated at 39 between the gear and drive shaft.An annular thrust plate 40 is mounted on the upper side of the hub carrier 35 and supports an annular thrust bearing 41 which engages with the underside of the base plate so the vertical loading on the hub carrier is transmitted to the base plate 10.
The hub carrier 35 has downwardly extending convergent legs 42 formed on diametrically opposite sides of the carrier and a spindle 43 extends between the lower ends of the legs mounted in bushes 44 in the legs.
The hub 13 carrying the axle 16 and wheels 18,32 is rotatably mounted at its lower end on the spindle 43 to pivot about an axis 45 defined by the spindle.
As viewed in plan, the axis 45 extends at right angles to the axis of the axle 16, and the intersection of those axes is also intersected by the axis 14 of the drive shaft 19. The spindle thus provides an axes about which the wheel assembly supported in the hub 13 can rock as the wheels of the unit move over a floor to accommodate any uneveness in the floor and ensure that both wheels remain in contact with the floor.
It will be appreciated that as the hub 13 rocks on the spindle, the drive shaft 19 which is supported in bearing 21 in the hub will move from side to side as it is permitted to do by the aforesaid clearances in the boss 38 and gear 31. To accommodate the movement of the upper end of the drive shaft 19 with its driving gear 24, an "OLDHAM" connection is provided indicated at 46 to provide a full power transmitting driving connection between the gear 24 and upper end of the drive shaft 19 whilst allowing the shaft 19 to rock from side to side.
The arrangement and in particular, the geometry of the ratio of the gears 22, 23 and the radius of the driven wheel 18 to offset of the wheel from the axis 14 is otherwise as described above in relation to Figure 1.

Claims (5)

1. A motor driven steerable wheel unit comprising a hub, means to mount the hub to steer about a vertical axis, an axle mounted in the hub for rotation about a horizontal axis, a wheel mounted on the axle offset from the steering axis of the hub, a vertical drive shaft mounted at its lower end in the hub for rotation about an axis coincident with the steering axis of the hub, having a geared connection to the axle supported in the hub, a drive motor mounted independently of the hub having a driving connection to the shaft for rotating of the shaft and thereby the wheel supported by the axle and a steering motor supported independently of the hub having a driving connection to the hub for steering the hub in the required direction, the ratio of the radius of the wheel to the offset of the wheel from the steering axis being equal to the ratio of the radii of the gears in the driving connection between the shaft and axle whereby rotating the hub to perform a steering movement does not impart any translation movement through the wheel and driving the wheel through the drive motor does not impart any steering movement.
2. A drive unit as claimed in Claim 1, wherein the axle projects on either side of the hub and a pair of wheels are mounted on the projecting ends of the axle respectively, one wheel being fixed to the axle for rotation therewith and the other wheel being mounted for free rotation with respect to the axle.
3. A drive unit as claimed in Claim 1 or Claim 2, wherein the geared connection between the drive shaft and axle comprises bevel gears secured respectively to the drive shaft and axle.
4. A motor unit as claimed in any of the preceding claims, wherein the drive shaft is connected to its respective drive motor through an "Oldham" coupling to allow the shaft to fill whilst being turned by the drive master.
5. A steerable drive unit substantially as described with reference to and as illustrated in Figure 1 or Figures 2 and 3 of the accompanying drawings.
GB9120993A 1991-10-03 1991-10-03 Motor-driven steerable wheel units eg. for T.V. camera pedestals Withdrawn GB2260108A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB9120993A GB2260108A (en) 1991-10-03 1991-10-03 Motor-driven steerable wheel units eg. for T.V. camera pedestals

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB9120993A GB2260108A (en) 1991-10-03 1991-10-03 Motor-driven steerable wheel units eg. for T.V. camera pedestals

Publications (2)

Publication Number Publication Date
GB9120993D0 GB9120993D0 (en) 1991-11-13
GB2260108A true GB2260108A (en) 1993-04-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
GB9120993A Withdrawn GB2260108A (en) 1991-10-03 1991-10-03 Motor-driven steerable wheel units eg. for T.V. camera pedestals

Country Status (1)

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997009192A1 (en) * 1995-09-05 1997-03-13 Elin Ebg Traction Gmbh Drive for a single wheel
WO1997031216A1 (en) * 1996-02-26 1997-08-28 Vitec Group, Plc Improvements in or relating to camera mounting pedestals
FR2812843A1 (en) * 2000-08-11 2002-02-15 Fenwick Linde CARRIER CARRIER DRIVE UNIT
EP1747969A1 (en) * 2005-07-28 2007-01-31 Zf Friedrichshafen Ag Drive Unit
GB2435021A (en) * 2006-02-11 2007-08-15 Nicholas Richard Shotter Vehicle steering joint
EP1918152A2 (en) * 2006-11-02 2008-05-07 Visual Act Scandinavia AB A drive unit and a powered vehicle
WO2009118084A1 (en) * 2008-03-27 2009-10-01 Daimler Ag Wheel hub drive for a motor vehicle
WO2010046905A1 (en) * 2008-09-12 2010-04-29 Deere & Company Traction device
CN105882784A (en) * 2016-05-27 2016-08-24 中国科学院宁波材料技术与工程研究所 Omnidirectional moving platform and dynamic universal wheel thereof
CN109466312A (en) * 2018-11-27 2019-03-15 合肥工业大学 A kind of wheel assembly of all directionally movable robot
CN111692486A (en) * 2020-05-29 2020-09-22 宁波爵盛科技有限公司 Monitoring device for preventing high altitude object throwing
EP3753773A1 (en) * 2019-06-18 2020-12-23 Hyster-Yale Group, Inc. Gear drive and drive wheel configuration for zero torque steer
WO2021063666A1 (en) * 2019-09-30 2021-04-08 Broetje Automation Gmbh Floor-bound vehicle
CN110203279B (en) * 2019-07-02 2023-08-29 洛阳履坦智能科技有限公司 Pure rolling steering wheel device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110293835A (en) * 2019-07-10 2019-10-01 杭州极木科技有限公司 A kind of ultra-thin universal driving wheel
KR20210049288A (en) * 2019-10-25 2021-05-06 현대자동차주식회사 Vehicle wheel having suspension and steering device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB860903A (en) * 1959-08-27 1961-02-15 Yale & Towne Mfg Co Steering and traction unit construction
US3534825A (en) * 1968-08-05 1970-10-20 Eaton Yale & Towne Vehicle drive and steer mechanism
US5008804A (en) * 1988-06-23 1991-04-16 Total Spectrum Manufacturing Inc. Robotic television-camera dolly system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB860903A (en) * 1959-08-27 1961-02-15 Yale & Towne Mfg Co Steering and traction unit construction
US3534825A (en) * 1968-08-05 1970-10-20 Eaton Yale & Towne Vehicle drive and steer mechanism
US5008804A (en) * 1988-06-23 1991-04-16 Total Spectrum Manufacturing Inc. Robotic television-camera dolly system
US5008804B1 (en) * 1988-06-23 1993-05-04 Total Spectrum Manufacturing I

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997009192A1 (en) * 1995-09-05 1997-03-13 Elin Ebg Traction Gmbh Drive for a single wheel
WO1997031216A1 (en) * 1996-02-26 1997-08-28 Vitec Group, Plc Improvements in or relating to camera mounting pedestals
FR2812843A1 (en) * 2000-08-11 2002-02-15 Fenwick Linde CARRIER CARRIER DRIVE UNIT
EP1747969A1 (en) * 2005-07-28 2007-01-31 Zf Friedrichshafen Ag Drive Unit
GB2435021B (en) * 2006-02-11 2010-06-23 Nicholas Richard Shotter Vehicle steering joint
GB2435021A (en) * 2006-02-11 2007-08-15 Nicholas Richard Shotter Vehicle steering joint
EP1918152A2 (en) * 2006-11-02 2008-05-07 Visual Act Scandinavia AB A drive unit and a powered vehicle
EP1918152A3 (en) * 2006-11-02 2010-02-24 Visual Act Scandinavia AB A drive unit and a powered vehicle
WO2009118084A1 (en) * 2008-03-27 2009-10-01 Daimler Ag Wheel hub drive for a motor vehicle
WO2010046905A1 (en) * 2008-09-12 2010-04-29 Deere & Company Traction device
CN105882784A (en) * 2016-05-27 2016-08-24 中国科学院宁波材料技术与工程研究所 Omnidirectional moving platform and dynamic universal wheel thereof
CN105882784B (en) * 2016-05-27 2021-08-17 中国科学院宁波材料技术与工程研究所 Omnidirectional mobile platform and power universal wheel thereof
CN109466312A (en) * 2018-11-27 2019-03-15 合肥工业大学 A kind of wheel assembly of all directionally movable robot
EP3753773A1 (en) * 2019-06-18 2020-12-23 Hyster-Yale Group, Inc. Gear drive and drive wheel configuration for zero torque steer
CN110203279B (en) * 2019-07-02 2023-08-29 洛阳履坦智能科技有限公司 Pure rolling steering wheel device
WO2021063666A1 (en) * 2019-09-30 2021-04-08 Broetje Automation Gmbh Floor-bound vehicle
CN114430724A (en) * 2019-09-30 2022-05-03 布勒特耶自动控制设备有限责任公司 Grounded carrier
CN111692486A (en) * 2020-05-29 2020-09-22 宁波爵盛科技有限公司 Monitoring device for preventing high altitude object throwing

Also Published As

Publication number Publication date
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