OMNIDIRECTIONAL PINION WHEEL

摘要

Concepts of an omnidirectional pinion wheel are described. In one embodiment, the wheel includes a hub, first and second annular rims each including inner and outer rim surfaces, spokes that extend from the hub to the first and second annular rims, a pinion ring including pinion rods that extend between the inner surfaces of the first and second annular rims, and first and second annular rings of rollers affixed on the outer surfaces of the first and second annular rims. Using an axis of freedom of the rollers, the wheel can move sideways in addition to forward and backward. Further, when used with a vertical rack gear, the wheel can provide vertical displacement by engagement between teeth of the gear and the pinion ring. Additionally, various racks and tracks with teeth for pinion ring engagement are described along with an example vehicle capable of vertical displacement using the wheels.

主权项

1. A wheel, comprising:
a hub comprising a center bore that extends in a first direction; a first annular rim comprising a first rim inner surface and a first rim outer surface; a second annular rim comprising a second rim inner surface and a second rim outer surface, the first rim inner surface being spaced apart from the second rim inner surface by a distance in the first direction; a first plurality of spokes that extend radially away from the hub to the first annular rim; a second plurality of spokes that extend radially away from the hub to the second annular rim; a plurality of pinion rods that extend between and separate the first rim inner surface and the second rim inner surface by the distance in the first direction, the plurality of pinion rods being substantially evenly spaced along the first annular rim and the second annular rim; a first annular ring of rollers comprising a first plurality of rollers arranged in a first ring and affixed to the first rim outer surface; and a second annular ring of rollers comprising a second plurality of rollers arranged in a second ring and affixed to the second rim outer surface.