IL304633A

IL304633A - Movable platform with tilted caster wheels

Info

Publication number: IL304633A
Application number: IL304633A
Authority: IL
Inventors: LAVI Dor
Original assignee: Metomotion Ltd; LAVI Dor
Priority date: 2023-07-20
Filing date: 2023-07-20
Publication date: 2025-02-01

Description

1 MOVABLE PLATFORM WITH TILTED CASTER WHEELS FIELD OF THE INVENTION [001] The present invention relates generally to movable platforms. More specifically, the present invention relates to a movable platform with tilted wheels for robotic transformation.

BACKGROUND OF THE INVENTION [002] Automation is everywhere, specifically where large-scale operations are required. Robotic units can be found, in industrial facilities, warehouses, greenhouses, farm fields (e.g., automatic harvesting/picking of fruits), etc. These units are either self-maneuvered or are carried by movable platforms. [003] The robotic units can travel on rails, wheels, or both. Accurate placing and maneuvering of the robotic units, specifically in narrow passages and packed places is challenging. [004] When a unit traveling on rail in a first passage, needs to move to another passage, the unit goes off the rails and travels on wheels. Maneuvering (e.g., turning) the unit accurately between the two passages is challenging, as the room of maneuvering is very limited. [005] Accordingly, there is a need for a simple mechanism that may allow maneuvering and turning movable platforms, for example, when moving from one passage to the other.

SUMMARY OF THE INVENTION [006] Some aspects of the invention may be directed to a movable platform comprising: a base installed on a plurality of caster wheels, wherein said caster wheels are attached to the base at a negative camber angle. [007] In some embodiments, the camber angle is defined as an angle between a vertical axis of the caster wheel and the vertical axis of the base when viewed from the front or rear. In some embodiments, each caster wheel comprises: a connector, rotatably connecting the caster wheel to a surface of the base; and a wheel fork, configured to retain the negative camber angle. [008] In some embodiments, the negative camber angle is between 0.5 to 3 degrees. In some embodiments, the wheel fork comprises an adjustment mechanism for adjusting the negative camber angle. 2 id="p-9"

[009] In some embodiments, the movable platform further comprises two pairs of caster wheels wherein each pair is connected at opposite sides of the surface. [0010] In some embodiments, the movable platform further comprises one or more rail wheel assemblies configured to move the movable platform on rails. In some embodiments, rail wheel assembly comprises two rail wheels rotatably connected to the surface by a holder. [0011] Some additional aspects of the invention may be directed to a movable platform comprising: a base; and at least three caster wheels, wherein at least two of the at least three caster wheels each comprising: a connector, rotatably connecting the caster wheel to a surface of the base; and a wheel fork, configured to retain an angle between a normal to the surface of the base and an axis of a wheel perpendicular to a through axel of the wheel fork. [0012] In some embodiments, the at least two caster wheels are connected at opposite sides of the surface. In some embodiments, the angle defines a tilt of the wheel outwardly towards an edge of the base closest to the caster wheel. In some embodiments, the angle is between 0.5 to 3 degrees. In some embodiments, the wheel fork comprises an adjustment mechanism for adjusting the angle. [0013] In some embodiments, the movable platform further comprises two pairs of caster wheels wherein each pair is connected at opposite sides of the surface. [0014] In some embodiments, the movable platform further comprises one or more rail wheel assemblies configured to move the movable platform on rails. In some embodiments, each rail wheel assembly comprises two rail wheels rotatably connected to the surface by a holder. [0015] Some additional aspects of the invention may be directed to a movable platform comprising: a base; and at least three wheel assemblies; wherein at least two of the at least three wheel assemblies: (a) each comprising a connector, rotatably connecting the wheel assembly to a surface of the base; and (b) are assembled at opposite sides of the surface, such that each wheel is tilted outwardly towards an edge of the base closest to the wheel assembly. [0016] In some embodiments, each wheel is tilted at an angle defined between a normal to the surface of the base and an axis of a wheel perpendicular to a rotation axis of the wheel. [0017] In some embodiments, each wheel assembly further includes a wheel fork, configured to retain the angle. In some embodiments, the angle is between 0.5 to 3 degrees. [0018] In some embodiments, the movable platform further comprises one or more rail wheel assemblies configured to move the movable platform on rails. In some embodiments, 3 each rail wheel assembly comprises two rail wheels rotatably connected to the surface by a holder. [0019] In some embodiments, the bases disclosed herein are configured to carry a robotic harvesting device. [0020] In some embodiments, the movable platforms disclosed herein above are further comprises one or more engines one or more gears mechanically coupling the one or more of the caster wheels to the one or more engines; and a controller configured to control the one or more engines and the one or more gears to transport the base. In some embodiments, the movable platform further comprises a robotic navigation system configured to send instructions to the controller to navigate the movable platform.

BRIEF DESCRIPTION OF THE DRAWINGS [0021] The subject matter regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying drawings in which: [0022] Figs. 1A and 1B are illustrations of a bottom isometric view and a front view of a movable platform according to some embodiments of the invention; and [0023] Figs. 2A and 2B are illustrations of a bottom isometric view and a front view of another movable platform according to some embodiments of the invention. [0024] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.

DETAILED DESCRIPTION OF THE PRESENT INVENTION [0025] One skilled in the art will realize the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The foregoing embodiments are therefore to be considered in all respects illustrative rather than limiting of the invention described herein. Scope of the invention is thus indicated by the appended claims, rather than by the foregoing description, and all changes that come within the 4 meaning and range of equivalency of the claims are therefore intended to be embraced therein. [0026] Some aspects of the invention may be related to movable platforms for carrying loads, for example, autonomous movable platforms that can travel in narrow passages and autonomously move from one passage to another (e.g., a neighboring parallel one). Such a platform may include at least one pair of tilted wheels, allowing controlling the radius of the turns the platform takes. [0027] Reference is now made to Figs. 1A and 1B which are illustrations of a bottom isometric view and a front view of a movable platform according to some embodiments of the invention. A movable platform 100 may include a base 10 and at least three caster wheel (also referred herein as wheel assemblies). Base 10 may be any platform capable of carrying loads, for example, robotic units (e.g., harvesting robotic units, robotic cranes, etc.). [0028] In some embodiments, movable platform 100 may include three caster wheels 20, one front caster wheel 20 and a pair of rear caster wheels 20, or vice versa. Alternatively, movable platform 100 may include 4 caster wheels 20, a front pair and a rear pair, as illustrated. In some embodiments, additional caster wheels 20 may be added as required. [0029] In some embodiments, at least two wheel assemblies may be caster wheels and may include a connector 22, rotatably connecting caster wheel 20 to a surface 12 of base 10. Connector 22 may be connected to surface 12 of base 10 via three or more bolts, screws, or nails. Additionally or alternatively, connector 22 may be welded, glued, etc. to surface 12 of base 10. Connectors 22 may include a rotating shaft 23 rotatably connected to a wheel fork 24. [0030] In some embodiments, base 10 is installed on a plurality of caster wheels 20, such that caster wheels 20 are attached to base 10 at a negative camber angle . In some embodiments, camber angle  is defined as an angle between a vertical axis X of the caster wheel and the vertical axis N of the base when viewed from the front or rear. [0031] In some embodiments, wheel fork 24, may be configured to retain the angle  between a normal N’ to surface 12 of base 10 and an axis X of a wheel 5 perpendicular to a through axel TX of wheel fork 24. In some embodiments, angle  defines a tilt of wheel outwardly towards an edge 16 of base 10 closest to wheel assembly 20. id="p-32"

[0032] In some embodiments, at least two caster wheels 20 are assembled at opposite sides of surface 12, such that each wheel 5 is tilted outwardly towards edge 16 of base closest to wheel assembly 20. [0033] In some embodiments, wheel fork 24 comprises an adjustment mechanism (not illustrated) for adjusting angle . Some nonlimiting examples for such adjustment mechanism may include, an angled disc (e.g., angled washer) placed between connector and wheel fork 24, connecting connector 22 at one side and adjusting with an elevating mechanism at the other side, adjustable ball flange, and the like. In some embodiments, angle  is between 0.5 to 3 degrees, for example, between 1 to 2 degrees, between 0.8 to 2.degrees, and any value in between. [0034] Reference is now made to Figs. 2A and 2B which are illustrations of a bottom isometric view and a front view of another movable platform according to some embodiments of the invention. A movable platform 200 may include substantially the same, elements, parts, and components as movable platform 100. [0035] In some embodiments, movable platform 200 may further include one or more rail wheel assemblies 30 configured to move movable platform 200 on rails. In some embodiments, each rail wheel assembly 30 includes two rail wheels 32 rotatably connected (e.g., via shaft 36) to surface 12 by a holder 34. In some embodiments, rail wheels 32 may be assembled such that a lower portion of each wheel engaging with the rail is higher than the lower portion of wheel 5 configured to engage with a path/floor/ground of the passage. [0036] Therefore, can travel both on rails, when rails are assembled in the passage, and to maneuver on the floor/ground when movable platform 200 get off the rails. In some embodiments, caster wheels 20 allow controllable maneuvers and turning when movable platforms 100 or 200 travel on the floor/ground. [0037] In some embodiments, movable platforms 100 or 200 may further include one or more engines (not illustrated); and one or more gears mechanically coupling the one or more of the wheels to the one or more engines (also not illustrated). In some embodiments, movable platforms 100 or 200 may further a controller configured to control the one or more engines and the one or more gears to transport the base. In a non-limiting example, movable platforms 100 or 200 may further comprise a robotic navigation system configured to send instructions to the controller to navigate the movable platform. 6 id="p-38"

[0038] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents may occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention. [0039] Various embodiments have been presented. Each of these embodiments may of course include features from other embodiments presented, and embodiments not specifically described may include various features described herein.

Claims

1. 7

2. CLAIMS 1. A movable platform comprising: a base installed on a plurality of caster wheels, wherein said caster wheels are attached to the base at a negative camber angle. 2. The movable platform of claim 1, wherein the camber angle is defined as an angle between a vertical axis of the caster wheel and the vertical axis of the base when viewed from the front or rear.

3. The movable platform of claim 1 or claim 2, wherein each caster wheel comprises: a connector, rotatably connecting the caster wheel to a surface of the base; and a wheel fork, configured to retain the negative camber angle.

4. The movable platform according to any one of claims 1 to 3, wherein the negative camber angle is between 0.5 to 3 degrees.

5. The movable platform according to any one of claims 1 to 3, wherein the wheel fork comprises an adjustment mechanism for adjusting the negative camber angle.

6. The movable platform according to any one of claims 1 to 5, comprising two pairs of caster wheels wherein each pair is connected at opposite sides of the surface.

7. The movable platform according to any one of claims 1 to 6, further comprising one or more rail wheel assemblies configured to move the movable platform on rails.

8. The movable platform of claim 7, wherein each rail wheel assembly comprises two rail wheels rotatably connected to the surface by a holder.

9. The movable platform according to any one of claims 1 to 8, wherein the base is configured to carry a robotic harvesting device.

10. The movable platform according to any one of claims 1 to 9, further comprising: one or more engines; one or more gears mechanically coupling the one or more of the caster wheels to the one or more engines; and a controller configured to control the one or more engines and the one or more gears to transport the base. 8

11. The movable platform of claim 10, further comprising a robotic navigation system configured to send instructions to the controller to navigate the movable platform.

12. A movable platform comprising: a base; and at least three caster wheels, wherein at least two of the at least three caster wheels each comprising: a connector, rotatably connecting the caster wheel to a surface of the base; and a wheel fork, configured to retain an angle between a normal to the surface of the base and an axis of a wheel perpendicular to a through axel of the wheel fork.

13. The movable platform of claim 12, wherein the at least two caster wheels are connected at opposite sides of the surface.

14. The movable platform of claim 12 or claim 13, wherein the angle defines a tilt of the wheel outwardly towards an edge of the base closest to the caster wheel.

15. The movable platform according to any one of claims 12 to 14, wherein the angle is between 0.5 to 3 degrees.

16. The movable platform according to any one of claims 12 to 15, wherein the wheel fork comprises an adjustment mechanism for adjusting the angle.

17. The movable platform according to any one of claims 12 to 16, comprising two pairs of caster wheels wherein each pair is connected at opposite sides of the surface.

18. The movable platform according to any one of claims 12 to 17, further comprising one or more rail wheel assemblies configured to move the movable platform on rails.

19. The movable platform of claim 18, wherein each rail wheel assembly comprises two rail wheels rotatably connected to the surface by a holder.

20. The movable platform according to any one of claims 12 to 19, wherein the base is configured to carry a robotic harvesting device.

21. The movable platform according to any one of claims 12 to 20, further comprising: 9 one or more engines; one or more gears mechanically coupling the one or more of the wheels to the one or more engines; and a controller configured to control the one or more engines and the one or more gears to transport the base.

22. The movable platform of claim 21, further comprising a robotic navigation system configured to send instructions to the controller to navigate the movable platform.

23. A movable platform comprising: a base; and at least three wheel assemblies, wherein at least two of the at least three wheel assemblies: a) each comprising a connector, rotatably connecting the wheel assembly to a surface of the base; and b) are assembled at opposite sides of the surface, such that each wheel is tilted outwardly towards an edge of the base closest to the wheel assembly.

24. The movable platform of claim 23, where each wheel is tilted at an angle defined between a normal to the surface of the base and an axis of a wheel perpendicular to a rotation axis of the wheel.

25. The movable platform of claim 23 or claim 24, wherein each wheel assembly further includes a wheel fork, configured to retain the angle.

26. The movable platform according to any one of claims 23 to 25, wherein the angle is between 0.5 to 3 degrees.

27. The movable platform according to any one of claims 23 to 26, further comprising one or more rail wheel assemblies configured to move the movable platform on rails.

28. The movable platform of claim 27, wherein each rail wheel assembly comprises two rail wheels rotatably connected to the surface by a holder.

29. The movable platform according to any one of claims 23 to 28, wherein the base is configured to carry a robotic harvesting device. 10

30. The movable platform according to any one of claims 23 to 29, further comprising: one or more engines; one or more gears mechanically coupling the one or more of the wheels to the one or more engines; and a controller configured to control the one or more engines and the one or more gears to transport the base.

31. The movable platform of claim 30, further comprising a robotic navigation system configured to send instructions to the controller to navigate the movable platform.