RESILIENT WHEEL ASSEMBLIES
First Claim
1. A wheel structure for a vehicle, the wheel structure comprising:
- a continuous, annular rim;
a hub; and
a plurality of spokes interconnecting the rim and the hub, the spokes comprising at least one slit extending therethrough radially inward from the rim to the hub,wherein the spokes are configured to absorb radial and axial forces, andwherein the at least one slit is configured to reduce an axial stiffness of the spokes.
5 Assignments
0 Petitions
Accused Products
Abstract
A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The wheel assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The wheel assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion of the insert to a bottom portion of the insert. The insert may be configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure may be configured to transmit axial forces to the wheel structure. The wheel structure may be configured to absorb radial and axial forces.
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Citations
21 Claims
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1. A wheel structure for a vehicle, the wheel structure comprising:
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a continuous, annular rim; a hub; and a plurality of spokes interconnecting the rim and the hub, the spokes comprising at least one slit extending therethrough radially inward from the rim to the hub, wherein the spokes are configured to absorb radial and axial forces, and wherein the at least one slit is configured to reduce an axial stiffness of the spokes. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of molding a wheel structure, wherein the wheel structure comprises a plurality of spokes interconnecting a rim and a hub,
wherein the spokes comprise at least one slit extending therethrough radially inward from the rim to the hub, and wherein the at least one slit forms a plurality of spoke layers within each spoke, the spoke layers being axially offset from one another around the hub.
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11. A flipper structure for a vehicle, the flipper structure comprising:
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an arm having a proximal end and a distal end, a plurality of legs coupled to the proximal end of the arm; and an attachment base coupled to the plurality of legs, wherein the legs and attachment base comprise a four-bar linkage, wherein the four-bar linkage is configured to allow translation of the arm during impacts and provide rotational stiffness to the arm to lift the remote vehicle. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. An insert for a flipper structure, the insert comprising an annular bushing configured to provide a robust interface between an axle and a flipper structure,
the bushing comprising a bore with a flat surface that tapers outward from a top portion of the bushing to a bottom portion of the bushing, wherein the flat surface is configured to prevent backlash between the axle and the flipper structure.
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21. A wheel assembly for a remote vehicle, the wheel assembly comprising:
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a wheel structure comprising a plurality of spokes interconnecting a rim and a hub, the spokes comprising at least one slit extending therethrough radially inward from the rim to the hub; a flipper structure comprising an arm, a plurality of legs, and an attachment base, the plurality of legs and the attachment base comprising a four-bar linkage; and an insert comprising a bore with a flat surface that tapers outward from a top portion of the insert to a bottom portion of the insert, the insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle, wherein the insert is configured to prevent backlash between the axle and the flipper structure, wherein the flipper structure is configured to transmit axial forces to the wheel structure, and wherein the wheel structure is configured to absorb radial and axial forces.
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Specification