Omnidirectional Wheel With Toroidal Roller Rows
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Solution Overview
Problem
Prior omnidirectional wheel designs face issues with limited transit speeds due to uneven ride and vibrations, especially under heavy loads, and are complex, prone to mechanical failure, and restrictive on various surfaces and weather conditions.
Innovation Solution
An omnidirectional wheel design featuring a rim with toroidal rows of rollers having perpendicular axes, a motor for actuating the rollers, and a gear mechanism for rotational motion, ensuring stable and controlled sideways movement parallel to the wheel axis, with a tire having a never-ending torus axial member and self-lubricating helical bearing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If many small wheels or rollers are arranged in a substantially circular structure, then omnidirectional motion is achieved, but transit speed is limited due to uneven ride and vibrations
Solution Approach 1:
The wheel is segmented into multiple independent rollers (at least three) arranged radially around a central axis, each roller capable of independent rotation. This segmentation allows the wheel to achieve omnidirectional motion through coordinated rotation of individual rollers while maintaining structural simplicity and reducing vibrations compared to continuous circular roller structures.
Solution Approach 2:
Instead of using a continuous circular structure of rollers that creates uneven ride, the invention inverts the approach by using discrete radially arranged rollers with a rigid connecting structure. This inversion transforms the harmful uneven contact into a stable rigid framework that supports smooth motion while maintaining omnidirectional capability.
2Adaptability or versatility
If many small wheels or rollers are arranged in a substantially circular structure, then omnidirectional motion is achieved, but the design becomes complex and prone to mechanical failure
Solution Approach 1:
Multiple rollers are merged into a unified rigid structure where the connectors integrate the rollers with the central hub. This combining approach reduces the number of separate components and connection joints compared to assembling many independent small wheels, thereby simplifying the overall structure and reducing potential failure points while maintaining omnidirectional motion capability.
Solution Approach 2:
The rigid connecting structure serves multiple functions simultaneously: it supports the rollers, transmits forces between them, maintains their radial arrangement, and connects to the central hub. This multi-functionality eliminates the need for separate structural elements for each function, reducing overall complexity.
3Adaptability or versatility
If rollers are arranged at angles to the wheel axis, then omnidirectional motion is achieved, but the design involves many connecting joints and frictional bias
Solution Approach 1:
Each roller is positioned with its axis perpendicular to the wheel's rotational axis, creating a specific local configuration optimized for omnidirectional motion. This localized perpendicular arrangement at each roller position eliminates the need for angled connections and reduces frictional bias while maintaining the ability to move in any direction through coordinated roller rotation.
4Adaptability or versatility
If many small wheels or rollers are used, then omnidirectional motion is achieved, but maintenance requirements increase
Solution Approach 1:
The rigid connecting structure merges multiple rollers into a unified assembly, reducing the number of separate components that require individual maintenance. This integration simplifies repair procedures as the structure acts as a cohesive unit rather than requiring disassembly and repair of numerous separate small wheels and connectors.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design provides a simple, reliable, and versatile omnidirectional wheel capable of controlled motion in any direction, reducing maintenance and improving performance on diverse surfaces and conditions.
Implementation Method 1
the rollers having a perpendicular axis of rotation with respect to the axis of rotation of the wheel when attached to the vehicle, and which, when rotating on the rim, engages the tire mounted on the rollers for rotating the tire on the rim
Implementation Method 2
a tire having a never-ending torus axial member and self-lubricating helical bearing
Data Source
AI summary
An omnidirectional wheel including a rim with at least one plate member and a means of attaching the wheel to a vehicle; a plurality of rollers comprising at least two toroidal rows of rollers disposed around the rim for mounting a tire; and a means of actuating the tire around its axis, defined, for example, by the never-ending torus axial member of the tire, whereby, when the wheel is engaging the ground, the tire rolling on the rim causes a side movement of the wheel, parallel to the wheel axis, in a plan orthogonal to the normal plan of rotation of the wheel when attached to the vehicle. A tire having a never-ending torus axial member, a helical bearing member, and a resilient toroidal shape is also provided.