Resilient wheel structure
First Claim
Patent Images
1. A wheel structure comprising:
- a continuous, annular rim;
a hub;
and a plurality of spokes interconnecting said rim and said hub;
each of said spokes possessing a first spoke portion integrally connected to the hub at a hub origin point, a second spoke portion integrally connected to said rim at a rim origin point, and a third spoke portion integrally connected to said first spoke portion and integrally connected to said second spoke portion;
said third spoke portion extending in generally different direction than said first spoke portion;
the rim further comprising an outer annular rim, an inner annular rim, rib interconnecting said outer rim to said inner rim, the inner annular rim and the outer annular rim being more rigid than at least one of the plurality spokes.
4 Assignments
0 Petitions
Accused Products
Abstract
A resilient wheel structure having a rim and a hub interconnected by spokes, wherein the rim is sufficiently stiff to distribute a load to all of the spokes, and wherein the wheel is able to absorb loads in both the radial and axial directions. The rim comprises an inner and outer rim portion supported by ribs, that are located co-radially with curved spokes that allow tension and compression. The wheel structure being optimally used on a mobile robot.
274 Citations
48 Claims
-
1. A wheel structure comprising:
-
a continuous, annular rim;
a hub;
and a plurality of spokes interconnecting said rim and said hub;
each of said spokes possessing a first spoke portion integrally connected to the hub at a hub origin point, a second spoke portion integrally connected to said rim at a rim origin point, and a third spoke portion integrally connected to said first spoke portion and integrally connected to said second spoke portion;
said third spoke portion extending in generally different direction than said first spoke portion;
the rim further comprising an outer annular rim, an inner annular rim, rib interconnecting said outer rim to said inner rim, the inner annular rim and the outer annular rim being more rigid than at least one of the plurality spokes.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
-
-
25. A wheel structure for a mobile robot, comprising:
-
a continuous, annular rim;
a hub; and
a plurality of spokes interconnecting said rim and said hub;
each of said spokes possessing a first spoke portion integrally connected to the hub at a hub origin point, a second spoke portion integrally connected to said rim at a rim origin point, and a third spoke portion integrally connected to said first spoke portion and integrally connected to said second spoke portion;
said third spoke portion extending in generally different direction than said first spoke portion;
the rim further comprising an outer annular rim, an inner annular rim, and a rib interconnecting said outer rim to said inner rim, the inner annular rim and the outer annular rim being more rigid than at least one of the plurality spokes;
wherein said rim further comprises a plurality of ribs interconnecting said outer rim to said inner rim;
wherein said wheel structure is mounted to a mobile robot.- View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
-
-
26. A wheel structure comprising:
-
a hub;
a continuous, annular rim comprising an outer annular rim, an inner annular rim, and ribs interconnecting the outer annular rim to the inner annular rim; and
spokes interconnecting the rim and the hub;
each of the spokes comprising a first spoke portion integrally connected to the hub at a hub origin point, a second spoke portion integrally connected to the rim at a rim origin point, and a third spoke portion integrally connected to the first spoke portion and integrally connected to the second spoke portion, the third spoke portion extending in generally different direction than the first spoke portion, locations of the spokes along a circumference of the inner annular rim rim corresponding to locations of the ribs along the circumference.- View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34)
-
Specification