Omni-directional wheel and moving device including the same

Patent metadata

Field	Value
Publication number	US-11453237-B2
Application number	US-201916672749-A
Country	US
Kind code	B2
Filing date	Nov 4, 2019
Priority date	Nov 14, 2018
Publication date	Sep 27, 2022
Grant date	Sep 27, 2022

Abstract

An omni-directional wheel includes: a center wheel configured to rotate about a first rotation axis extending in a first direction; a plurality of peripheral wheels arranged along a circumference of the center wheel and configured to rotate about a second rotation axis extending in a second direction different from the first direction; and a plurality of variable supports provided on the center wheel and configured to respectively support the plurality of peripheral wheels. At least one of the plurality of variable supports is configured to absorb, when an impact force is applied to at least one of the plurality of peripheral wheels being supported by the at least one of the plurality of variable supports, the impact by changing a distance between the center wheel and the at least one of the plurality of peripheral wheels.

First claim

What is claimed is:

1. An omni-directional wheel comprising:
a center wheel configured to rotate about a first rotation axis extending in a first direction;
a plurality of peripheral wheels arranged along a circumference of the center wheel and configured to rotate about a second rotation axis extending in a second direction different from the first direction; and
a plurality of variable supports provided on the center wheel and configured to respectively support the plurality of peripheral wheels,
wherein each of the plurality of variable supports comprises a support frame extending in a direction away from the first rotation axis of the center wheel and supporting a rotating shaft of a peripheral wheel of the plurality of peripheral wheels,
the center wheel comprises a plurality of first grooves, each of the plurality of first grooves configured to receive at least a portion of the support frame, and
at least one of the plurality of variable supports is configured to absorb, when an impact force is applied to at least one of the plurality of peripheral wheels being supported by the at least one of the plurality of variable supports, the impact force by changing a distance between the center wheel and the at least one of the plurality of peripheral wheels.

2. The omni-directional wheel of claim 1 , wherein each of the plurality of variable supports comprises:
an elastic part configured to exert an elastic force to the support frame in the direction away from the first rotation axis of the center wheel.

3. The omni-directional wheel of claim 2 , wherein the support frame comprises:
an insertion portion being inserted into a first groove of the plurality of first grooves; and
a protrusion portion extending from the insertion portion in the direction away from the first rotation axis of the center wheel and protruding outward from the insertion portion.

4. The omni-directional wheel of claim 3 , wherein a first side surface of the insertion portion and a second surface of the first groove facing the first side surface of the insertion portion are parallel in a direction in which the protrusion portion extends from the insertion portion, and
wherein a width of the first groove corresponds to a thickness of the insertion portion.

5. The omni-directional wheel of claim 3 , wherein the support frame further comprises a rib provided on the protrusion portion.

6. The omni-directional wheel of claim 3 , wherein the support frame further comprises a stopper configured to prevent separation of the support frame from the first groove of the center wheel.

7. The omni-directional wheel of claim 2 , wherein the elastic part comprises at least one of rubber or a fluid.

8. The omni-directional wheel of claim 7 , wherein the elastic part is positioned to support an end portion of the support frame facing the first rotation axis of the center wheel.

9. The omni-directional wheel of claim 8 , wherein the elastic part comprises a single body configured to exert the elastic force to the support frame of each of the plurality of variable supports.

10. The omni-directional wheel of claim 3 , wherein the center wheel further comprises a second groove into which the elastic part is inserted.

11. The omni-directional wheel of claim 1 , wherein a material of the center wheel is different from that of the support frame.

12. The omni-directional wheel of claim 11 , wherein the support frame has a strength greater than that of the center wheel.

13. A moving device comprising:
a moving body; and
a plurality of omni-directional wheels arranged along a periphery of the moving body to move the moving body in multiple directions,
wherein each of the plurality of omni-directional wheels comprises:
a center wheel configured to rotate about a first rotation axis extending in a first direction;
a plurality of peripheral wheels arranged along a circumference of the center wheel and configured to rotate about a second rotation axis extending in a second direction different from the first direction; and
a plurality of variable supports provided on the center wheel and configured to respectively support the plurality of peripheral wheels,
wherein each of the plurality of variable supports comprises a support frame extending in a direction away from the first rotation axis of the center wheel and supporting a rotating shaft of a peripheral wheel of the plurality of peripheral wheels,
the center wheel comprises a plurality of first grooves, each of the plurality of first grooves configured to receive at least a portion of the support frame, and
at least one of the plurality of variable supports is configured to absorb, when an impact force is applied to at least one of the plurality of peripheral wheels being supported by the at least one of the plurality of variable supports, the impact force by changing a distance between the center wheel and the at least one of the plurality of peripheral wheels.

14. The moving device of claim 13 , wherein a first omni-directional wheel of the plurality of omni-directional wheels is arranged symmetrically with a second omni-directional wheel of the plurality of omni-directional wheels with respect to the moving body.

15. The moving device of claim 13 , wherein each of the plurality of variable supports comprises:
an elastic part configured to exert an elastic force to the support frame in the direction away from the first rotation axis of the center wheel.

16. The moving device of claim 13 , wherein the support frame comprises:
an insertion portion being inserted into a first groove of the plurality of first grooves; and
a protrusion portion extending from the insertion portion in the direction away from the first rotation axis of the center wheel and protruding outward from the insertion portion.

17. The moving device of claim 16 , a first side surface of the insertion portion and a second surface of the first groove facing the first side surface of the insertion portion are parallel in a direction in which the protrusion portion extends from the insertion portion, and
wherein a width of the first groove corresponds to a thickness of the insertion portion.

18. The moving device of claim 15 , wherein the elastic part comprises at least one of rubber or a fluid.

19. The omni-directional wheel of claim 1 , wherein each peripheral wheel of the plurality of peripheral wheels is of approximately a same diameter.

20. The omni-directional wheel of claim 1 , wherein an angle between the second direction and the first direction is between 30 degrees and 60 degrees.

Assignees

• Samsung Electronics Co Ltd

Inventors

• Choi Wonjun
• Lee Jaewook
• Won Jongsik
• Yoo Jaewon
• Heo Jungdae
• Hong Seungbohm

Classifications

• B60B19/12

  Roller-type wheels (B60B19/06 takes precedence) · CPC title

• B60B19/125 Primary

  with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle · CPC title

• B60B2900/551

  Handling of obstacles or difficult terrains · CPC title

• B60B2900/131

  Vibrations · CPC title

• B60B19/003 Primary

  Multidirectional wheels · CPC title