Workpiece loader assembly
Various embodiments of loader assemblies are disclosed for controlling the translational and rotational movement of a workpiece. One or more pairs of offset compound wheels are configured to support and control a workpiece. In one configuration, a left-handed mecanum wheel is paired with an offset right-handed mecanum wheel. By rotating offset compound wheels independently of each other, the workpiece can be made to move forward or backward, and at the same time have an independently controlled clockwise or counterclockwise rotational motion.
1 . A loader assembly, the loader assembly comprising:
a first left mecanum wheel configured to rotate about a first axis;
a second left mecanum wheel configured to rotate about the first axis;
a first right mecanum wheel offset from the first left mecanum wheel and configured to rotate about a second axis that is substantially parallel to and offset from the first axis;
a second right mecanum wheel offset from the second left mecanum wheel and configured to rotate about the second axis;
a left mecanum drive motor coupled to a left drive shaft, the left drive shaft coupled to the first left mecanum wheel and the second left mecanum wheel;
a right mecanum drive motor coupled to a right drive shaft, the right drive shaft coupled to the first right mecanum wheel and the second right mecanum wheel;
wherein the left drive shaft and the right drive shaft are substantially parallel.
2 . A loader assembly according to claim 1 , the loader assembly comprising:
at least one height jack configured to raise or lower the first left mecanum wheel, the second left mecanum wheel, the first right mecanum wheel, and the second right mecanum wheel; and
at least one slide track along which the first left mecanum wheel, the second left mecanum wheel, the first right mecanum wheel, and the second right mecanum wheel can be moved horizontally.
3 . A loader assembly according to claim 1 , wherein:
the first right mecanum wheel is slidable within a first track; and
the second right mecanum wheel is slidable within a second track.
4 . A loader assembly according to claim 1 , the loader assembly comprising:
a third left mecanum wheel coupled to the left drive shaft;
a fourth left mecanum wheel coupled to the left drive shaft;
a third right mecanum wheel coupled to the right drive shaft; and
a fourth right mecanum wheel coupled to the right drive shaft.
5 . A loader assembly according to claim 1 , the loader assembly comprising:
a controller configured to:
control the left mecanum drive motor; and
control the right mecanum drive motor.
6 . A loader assembly according to claim 5 , wherein the controller is configured to control the height and lateral position of each of the first left mecanum wheel, the second left mecanum wheel, the first right mecanum wheel, and the second right mecanum wheel.
7 . A loader assembly according to claim 1 , the loader assembly comprising at least one stabilizer wheel proximate to the first left mecanum wheel and the first right mecanum wheel, the stabilizer wheel configured to rotate about a third axis that is offset from the first axis and the second axis.
8 . A loader assembly according to claim 7 , wherein the at least one stabilizer wheel comprises an omni wheel.
9 . A loader assembly according to claim 1 , wherein:
the first mecanum wheel is of a first-handed orientation;
the second mecanum wheel is of the first-handed orientation;
the third mecanum wheel is of a second-handed orientation;
the fourth mecanum wheel is of the second-handed orientation; and
the first-handed orientation and the second-handed orientation are different.
10 . A loader assembly according to claim 9 , wherein:
the first mecanum wheel is selectively slidable relative to the third mecanum wheel; and
the second mecanum wheel is slidable relative to the fourth mecanum wheel.
11 . A loader assembly according to claim 9 , the loader assembly comprising:
a fifth mecanum wheel configured to rotate about the first axis and coupled to the first drive shaft;
a sixth mecanum wheel configured to rotate about the first axis and coupled to the first drive shaft;
a seventh mecanum wheel configured to rotate about the second axis and coupled to the second drive shaft; and
an eighth mecanum wheel configured to rotate about the second axis and coupled to the second drive shaft.
12 . A loader assembly according to claim 9 , the loader assembly comprising at least one stabilizer wheel proximate to the first left mecanum wheel and the first right mecanum wheel, the stabilizer wheel configured to rotate about a third axis that is offset from the first axis and the second axis.
13 . A loader assembly according to claim 12 , wherein the at least one stabilizer wheel comprises an omni wheel.
14 . The loader assembly of claim 9 , wherein:
the third mecanum wheel is proximate to the first mecanum wheel; and
the fourth mecanum wheel is proximate to the second mecanum wheel.
15 . A loader assembly according to claim 14 , wherein:
the first-handed orientation is a left-handed orientation; and
the second-handed orientation is a right-handed orientation.
16 . A loader assembly according to claim 14 , wherein:
the first-handed orientation is a right-handed orientation; and
the second-handed orientation is a left-handed orientation.
17 . A loader assembly according to claim 16 , the loader assembly comprising a controller configured to control the first motor, the second motor, the third motor, and the fourth motor.
18 . A method of controlling the movement of a workpiece, the method comprising:
positioning an elongated workpiece to rest on a plurality of left compound wheels and a plurality of right compound wheels offset from the plurality of left compound wheels, such that the elongated workpiece is in substantial contact with each of the plurality of left compound wheels and the plurality of right compound wheels, and such that the elongated workpiece has an axis that is substantially parallel to an axis of rotation of the plurality of left compound wheels, and such that the elongated workpiece has an axis that is substantially parallel to an axis of rotation of the plurality of right compound wheels;
rotating the plurality of left compound wheels;
rotating the plurality of right compound wheels independently of the plurality of left compound wheels.
19 . The method of claim 18 , further comprising:
adjusting a lateral position of the plurality of right mecanum wheels to change the distance between the axis of rotation of the plurality of right mecanum wheels and the axis of rotation of the plurality of left mecanum wheels.
20 . The method of claim 18 , further comprising:
rotating the plurality of left compound wheels and rotating the plurality of right compound wheels to simultaneously move the elongated workpiece in a first translational direction and a first rotational direction; and
subsequently rotating the plurality of plurality of left compound wheels and rotating the plurality of right compound wheels to move the elongated workpiece in a second translational direction that is opposite of the first translational direction.