Multi-spoked wheel assembly

• US 10,451,156 B1
• Filed: 05/26/2017
• Issued: 10/22/2019
• Est. Priority Date: 12/07/2012
• Status: Expired due to Fees

• Current Assignee: United States of America as represented by the Administrator of NASA
• Original Assignee: The United States of America As Represented By The Secretary of Agriculture
• Inventors: Krasowski, Michael J., Greer, Lawrence C.
• Primary Examiner(s): Fox, Charles A
• Assistant Examiner(s): Dodd, Ryan P
• Application Number:
  US15/606,613
• Time in Patent Office: 879 Days
• Field of Search: 475334, 475325, 475311, 475313, 475337, 475339, 475319, 475288, 475346, 475903
• CPC Class Codes: A61G 5/06 with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
• CPC Class Codes: A61G 5/061 for climbing stairs
• CPC Class Codes: A61G 5/065 with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
• CPC Class Codes: F16H 1/36 with two central gears coupled by intermeshing orbital gears
• CPC Class Codes: F16H 2001/2881 comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output
• CPC Class Codes: F16H 3/58 with sets of orbital gears, each consisting of two or more intermeshing orbital gears
• CPC Class Codes: F16H 3/663 with conveying rotary motion between axially spaced orbital gears, e.g. RAVIGNEAUX
• CPC Class Codes: F16H 37/041 for conveying rotary motion with constant gear ratio

Abstract

A robust ground traction (drive) assembly for remotely controlled vehicles, which not only operates smoothly on surfaces that are flat, but also upon surfaces that include rugged terrain, snow, mud, and sand, is provided. The assembly includes a sun gear and a braking gear. The sun gear is configured to cause rotational force to be applied to second planetary gears through a coupling of first planetary gears. The braking gear is configured to cause the assembly (or the second planetary gears) to rotate around the braking gear when an obstacle or braking force is applied.

Claims

1. An apparatus, comprising:

a sun gear rotatable about a sun gear axis;

a braking gear rotatable about the sun gear axis independently of the sun gear;

a first plurality of planetary gears in mesh engagement with the sun gear;

a second plurality of planetary gears, wherein each one of the second plurality of planetary gears is in mesh engagement with a corresponding one of the first plurality of planetary gears as well as the braking gear;

a plurality of axles, wherein each one of the plurality of axles is fixedly attached to one of the second plurality of planetary gears; and

a plurality of wheels, wherein each wheel in the plurality of wheels is connected to an associated axle of the plurality of axles;

wherein;

in a first mode of operation of the apparatus, rotational energy is transferred from the sun gear to the second plurality of planetary gears via the first plurality of planetary gears such that each of the second plurality of planetary gears rotates about an independent planetary gear axis thereof to transfer rotational energy and cause independent rotation of the plurality of axles and the plurality of wheels, and

in a second mode of operation of the apparatus, a difference in rotational energy between the braking gear and the sun gear causes the second plurality of planetary gears to rotate in unison around the sun gear axis.

2. The apparatus of claim 1, wherein the apparatus is switchable from the first mode of operation to the second mode of operation via application of a braking mechanism to the braking gear, wherein application of the braking mechanism to the braking gear causes the difference in rotational energy.

3. The apparatus of claim 2, wherein application of the braking mechanism occurs autonomously.

4. The apparatus of claim 2, wherein application of the braking mechanism occurs in response to receipt of a user command.

5. The apparatus of claim 1, wherein the first and second pluralities of planetary gears are uniformly distributed about the sun gear axis.

6. An apparatus, comprising:

a sun gear rotatable about a central axis;

a braking gear rotatable about the central axis independently of the sun gear, wherein both the sun gear and the braking gear are substantially circular-shaped, wherein the sun gear has a first radius and the braking gear has a second radius, the second radius larger than the first radius;

a first plurality of planetary gears in mesh engagement with the sun gear at an outer circumference of the sun gear, wherein each of the first plurality of planetary gears is substantially circular-shaped and has a diameter, wherein the diameter plus the first radius is approximately equal to the second radius such that portions of the first plurality of planetary gears are substantially flush with a circumferential edge of the braking gear to form an engagement surface;

a second plurality of gears in mesh engagement with both the first plurality of planetary gears and the braking gears at the engagement surface;

a plurality of axles, wherein each one of the plurality of axles is fixedly attached to one of the second plurality of planetary gears; and

a plurality of wheels, wherein each wheel in the plurality of wheels is attached to a separate axle of the plurality of axles,

wherein;

in a first mode of operation of the apparatus, rotational energy is transferred from the sun gear to the second plurality of planetary gears via the first plurality of planetary gears such that each of the second plurality of planetary gear rotates to transfer rotational energy to and cause independent rotation of the pluralities of axles and wheels, and

in a second mode of operation of the apparatus, a difference in rotational energy between the braking gear and the sun gear causes the second plurality of planetary gears to rotate in unison around the central axis.

7. The apparatus of claim 6, wherein the first and second pluralities of planetary gears are uniformly distributed about the central axis.

8. The apparatus of claim 7, wherein the first and second pluralities of planetary gears both include three gears.

9. The apparatus of claim 6, further comprising:

a front plate and a back plate, wherein the front plate and back plate are configured to hold the sun gear, the first planetary gears, the second planetary gears, and the braking gear to form the apparatus.

10. The apparatus of claim 6, wherein the second plurality of planetary gears does not rotate in unison about the central axis in the first mode of operation.

11. A multi-spoked assembly, comprising:

a motor driven sun gear rotatable about a central axis;

a braking gear rotatable about the central axis independently of the sun gear;

a first plurality of planetary gears in mesh engagement with the sun gear;

a second plurality of planetary gears, wherein each one of the second plurality of planetary gears is in mesh engagement with a corresponding one of the first plurality of planetary gears as well as the braking gear; and

a plurality of wheels, each wheel connected to one of the plurality of second planetary gears,

wherein;

in a first mode of operation of the multi-spoked assembly, rotational energy is transferred from the sun gear to the second plurality of planetary gears via the first plurality of planetary gears such that each of the second plurality of planetary gears and a corresponding one of the wheels rotate about an independent axis of the planetary gear, and

in a second mode of operation of the multi-spoked assembly, a difference in rotational energy between the braking gear and the sun gear causes the second plurality of planetary gears and wheels to rotate in unison around the central axis.

12. The multi-spoked assembly of claim 11, wherein, in the first mode of operation, the multi-spoked assembly traverses a surface via frictional contact between a subset of the wheels and the surface due to rotation of the subset.

13. The multi-spoked assembly of claim 11, wherein the apparatus is switchable from the first mode of operation to the second mode of operation via application of a braking mechanism to the braking gear, wherein application of the braking mechanism to the braking gear causes the difference in rotational energy.

14. The multi-spoked assembly of claim 13, wherein application of the braking mechanism occurs autonomously.

15. The multi-spoked assembly of claim 13, wherein application of the braking mechanism occurs in response to receipt of a user command.