Spherical wheel intended for moving a vehicle and vehicle using the wheel

Patent metadata

Field	Value
Publication number	US-9895928-B2
Application number	US-201415106174-A
Country	US
Kind code	B2
Filing date	Dec 18, 2014
Priority date	Dec 20, 2013
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

A spherical wheel to move a vehicle comprises two caps, the surface of which follows the spherical surface of the wheel, the caps being articulated by means of a pivot link relative to a shaft. The wheel further comprises two casters each arranged in an opening of each of the caps, the opening centered about the axis of the corresponding pivot link, each caster arranged in the extension of the pivot link of the cap concerned. Each caster ensures a rolling at the level of the spherical surface. Radii S of the opening of each cap and r of the corresponding caster are defined to substantially balance forces needed to drive a cap and the corresponding caster when the wheel goes from bearing on the ground on a cap at the edge of the opening to bearing on the ground on the corresponding caster.

First claim

The invention claimed is:

1. A spherical wheel configured to move a vehicle and be driven in rotation by a shaft rotating about an axis, the wheel comprising:
first and second caps, each of the first and second caps having a surface that follows a spherical surface of the wheel and delimited by a plane, each of the first and second caps being articulated a pivot link relative to the shaft about an axis at a right angles to the plane of the each of the first and second caps; and
first and second casters, each of the first and second casters arranged in an opening of the first and second caps, the openings being circular and centered about the axis of the corresponding pivot link, each of the first and second casters being arranged in an extension of the pivot link of one of the first and second caps, each of the first and second casters being free to rotate about an axis at right angles to the axis of the shaft, each of the first and second casters ensuring that the spherical wheel rolls,
wherein a radius of the openings of each of the first and second caps and a radius of each of the first and second casters are defined to substantially balance forces needed to drive the first and second caps and the first and second casters when the spherical wheel goes from bearing on one of the first and second caps to bearing on one of the first and second casters.

2. The spherical wheel of claim 1 , wherein a rolling line of the casters occupies an angular sector centered on the center of the spherical wheel and wherein the angular sector is greater than 35°.

3. The spherical wheel of claim 2 , wherein the angular sector is less than 125°.

4. The spherical wheel of claim 2 , wherein the angular sector is between 45° and 50°.

5. The spherical wheel of claim 1 , wherein a greater radius of each of the first and second casters about its respective axis is greater than a quarter of the radius of the spherical wheel.

6. The spherical wheel of claim 5 , wherein a greater radius of each of the first and second casters about its respective axis is greater than a third of the radius of the spherical wheel.

7. The spherical wheel of claim 6 , wherein a greater radius of each of the first and second casters about its respective axis is equal to half the radius of the spherical wheel.

8. The spherical wheel of claim 1 ,
wherein, for each of the first and second caps, a friction torque Cf c is defined at a level of the pivot link between each of the first and second caps and the shaft,
wherein, for each of the first and second casters, a friction torque Cf r is defined in its freedom to rotate relative to the shaft, and
wherein the radii S of the opening of the first and second caps and r of the first and second casters are defined so that the following equality is substantially observed:
Cf c /S=Cf r /r.

9. The spherical wheel of claim 1 , wherein the first and second caps and the first and second casters are defined to substantially balance kinetic energies of one the first and second caps and of the one of the first and second casters when the spherical wheel goes from bearing on the one of the first and second caps at an edge of the opening to bearing on the one of the first and second casters.

10. The spherical wheel of claim 9 ,
wherein, for each of the first and second caps, a moment of inertia I c is defined about an axis of the pivot link between the first and second caps and the shaft,
wherein, for each of the first and second casters, a moment of inertia I r is defined about a rotating axis relative to the shaft, and
wherein dimensions and materials of the first and second caps and of the first and second casters are defined for the following equality to be substantially observed:

Ic
.
ω

⁢

⁢
c

2

=

Ir
.
ω

⁢

⁢
r

2

ω c representing a speed of rotation of the cap when the spherical wheel is bearing on one of the first and second caps at the edge of the opening, ω r representing the speed of rotation of the caster when the wheel goes from bearing on the first and second caps at the edge of the opening to bearing on the caster.

11. The spherical wheel of claim 1 , further comprising first and second covers associated with each of the first and second casters and fixed to the shaft, wherein the first and second covers form a portion of the spherical surface coming into the extension of the spherical surface of the first and second caps at the level of the opening through which said caster is arranged, wherein the first and second covers partly cover said first and second casters from said opening and wherein the first and second covers extend symmetrically relative to a rolling line of the first and second casters.

12. A vehicle, comprising at least three spherical wheels of claim 1 , wherein axes of the shafts of at least two of the spherical wheels are not arranged in a same plane.

Assignees

• Aldebaran Robotics
• Softbank Robotics Europe

Inventors

• Clerc Vincent
• Roux Philippe

Classifications

• B60Y2200/80

  Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60 · CPC title

• B60B37/04

  the wheels being rigidly attached to solid axles · CPC title

• B60B19/14 Primary

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

• B60B2900/551

  Handling of obstacles or difficult terrains · CPC title

• B62D61/06

  with only three wheels · CPC title