US 12,391,323 B1
System and method for facilitating the traversing of stairs by a wheeled robot
Nikita Shardul Sarhad, Houston, TX (US); and Shardul Jitendrakumar Sarhad, Houston, TX (US)
Assigned to Hacor Labs LLC, Houston, TX (US)
Filed by Hacor Labs LLC, Houston, TX (US)
Filed on Jan. 15, 2025, as Appl. No. 19/022,408.
Int. Cl. B62D 57/028 (2006.01)
CPC B62D 57/028 (2013.01) 11 Claims
OG exemplary drawing
 
1. A system for facilitating the traversing of stairs by a wheeled robot, the system comprising:
a support frame;
a first movement module;
a second movement module;
the support frame comprising a first lateral side, a second lateral side, an upper section, and a lower section;
the first movement module and the second movement module each comprising a shaft assembly, a drive mechanism, an inner wheeled leg, and an outer wheeled leg;
the shaft assembly of the first movement module and the shaft assembly of the second movement module being axially aligned with each other;
the shaft assembly of the first movement module being mounted onto the first lateral side, adjacent to the lower section;
the shaft assembly of the second movement module being mounted onto the second lateral side, adjacent to the lower section;
each inner wheeled leg and each outer wheeled leg being positioned parallel and offset to each other;
each inner wheeled leg being positioned external and adjacent to the support frame;
each outer wheeled leg being positioned external and opposite to the support frame across the corresponding inner wheeled leg;
each inner wheeled leg and each outer wheeled leg being rotatably connected to the corresponding shaft assembly;
each inner wheeled leg and each outer wheeled leg being torsionally and operatively connected to the drive mechanism by the corresponding shaft assembly, wherein each inner wheeled leg and each outer wheeled leg are independently rotated by the drive mechanism;
each shaft assembly comprising a shaft sleeve and an inner leg tubular shaft;
each inner wheeled leg comprising an inner les body and an inner lev wheel;
the shaft sleeve comprising an inner sleeve end and an outer sleeve end;
the inner leg body comprising a proximal leg end and a distal leg end;
the inner sleeve end being positioned within the support frame;
the outer sleeve end being positioned external to the support frame;
the inner leg tubular shaft being rotatably mounted within the shaft sleeve;
the proximal leg end of the inner leg body being torsionally connected to the inner lev tubular shaft, adjacent to the outer sleeve end;
a rotational axis of the inner leg wheel being oriented parallel to a rotational axis of the inner leg tubular shaft; and
the inner leg wheel being rotatably connected to the distal leg end of the inner leg body.