Note: Descriptions are shown in the official language in which they were submitted.
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
OMNIDIRECTIONAL WHEEL MODULES AND VEHICLES AND METHODS
EMPLOYING SAME
RELATED APPLICATION DATA
This application claims priority to United States
Provisional Patent Application No. 60/633,703, filed
December 6, 2004, which is hereby incorporated by reference
in its entirety.
The following documents, in their entireties, are
hereby incorporated by reference: U.S. Patent No.
6,394,203, filed December 6, 2001, issued to Donald Barnett
Harris, entitled METHOD FOR DESIGNING LOW-VIBRATION OMNI-
DIRECTIONAL WHEELS; U.S. Patent No. 6,340,065, filed
January 22, 2002, issued to Donald Barnett Harris, entitled
LOW VIBRATION OMNI-DIRECTIONAL WHEEL; U.S. Patent No.
6,547,340, filed December 6, 2001, issued to Donald Barnett
Harris, entitled*LOW VIBRATION OMNI-DIRECTION WHEEL;*U.S.
Patent No. 6,796,618, filed October 18, 2002, issued to
Donald Barnett Harris, entitled METHOD FOR DESIGNING LOW
VIBRATION OMNI-DIRECTIONAL WHEELS; U.S. Patent Application
No. 20050045409, filed August 25, 2003, applied for by
Nicholas Fenelli et al., entitled RELOCATABLE OPERATOR
STATION; and U.S. Patent Application Nos. 20030034687;
20020057010; and 20020046888.
FIELD OF INVENTION
This invention relates to omni-directional wheel
modules and vehicles employing same. In further
embodiments, this invention relates to methods of
converting objects and non-omni-directional vehicles into
omni-directional vehicles or hybrids thereof. In preferred
embodiments, such modules are independently functional
1
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
having an omni-directional wheel, an axle, a motor, a motor
controller, a transmission, and a brake assembled together
as a unitary assembly.
BACKGROUND OF INVENTION
Omni-directional vehicles capable of controlled motion
in any direction have long been recognized as having many
useful applications. A number of designs of omni-
directional vehicles have been disclosed. Most omni-
directional vehicle designs are similar in that they use
wheels that feature a number of rollers positioned about
the periphery of the wheel with the rollers permitting the
wheels to support motion in directions at an angle to the
wheel's plane of rotation. Omni-directional vehicles using
such omni-directional wheels can move in any direction by
rotating the wheels and rollers in an appropriate
combination. Each omni=directional wheel's rotation is
mechanically driven and servo controlled in a coordinated
fashion to cause the vehicle to follow a desired path as
previously disclosed by Ilon in U.S. Pat. No. 4,598,782.
Three, four, or more omni-directional wheels are connected
to a suitable chassis, suspension, wheel drives, and
controls to form an omni-directional vehicle. Hereinafter,
all uses of the words "roller" and "rollers" refer to the
type of rollers used on or designed for omni-directional
wheels for omni-directional vehicles.
Omni-directional wheels can be grouped into two
general classifications. The first class of wheels is
comprised of a rigid hub that supports a number of free
spinning rollers around its periphery. The hub is rigidly
coupled to an axle that, along with other omni-directional
wheels and axles, supports the vehicle. The rollers are
2
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
mounted at an oblique angle to the wheel's axle and are
free to rotate about their own axles. Omni-directional
wheel roller mounting angles of ninety degrees have been
disclosed by Blumrich in U.S. Pat. No. 3,789,947. The omni-
directional wheel disclosed by Blumrich was mechanically
driven to produce motion parallel to the axis of rotation
of the wheel. Omni-directional wheel designs with a ninety-
degree roller mounting angle and free-spinning rollers have
been disclosed by Bradbury in U.S. Pat. No. 4,223,753;
Hiscock in U.S. Pat. No. 4,335,899; Smith in U.S. Pat. No.
4,715,460; and Guile in U.S. Pat. Nos. D318,219 and
D318,791. Omni-directional wheels with rollers mounted
obliquely at roller mounting angles of approximately forty-
five degrees with respect to the wheel shaft have been
disclosed by Ilon in U.S. Pat. No. 3,876,255 and Amico in
U.S. Pat. No. 5,701,966. U.S. Pat. Nos. 3,876,255 and
5,701,966 are hereby incorporated by reference in their
entirety.
The second class of omni-directional wheels differ
from the above described omni-directional wheel design
concepts in that the rotational axes of the free spinning
rollers intersect with the wheel's axis of rotation. Wheels
of this class have been disclosed by Bradbury in U.S. Pat.
No. 4,223,753, and by Pin, et al, in U.S. Pat-. No.
5,374,879. In wheels of this class, two or more spherical
rollers are mounted in fixed positions so as to constrain
the vehicle's motion in the direction of wheel rotation,
while being unconstrained in a direction that is orthogonal
to the wheel's axis.
In known classes of omni-directional wheels, the axle
supporting each roller may be mounted to the omni-
directional wheel hub at both ends of the roller, as
3
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
disclosed by Blumrich, in the center, as disclosed by Ilon
and Amico, or at intermediate locations, as disclosed by
Smith. Typically, omni-directional wheel rollers are coated
with an elastomer surface contact material to improve
traction, as disclosed by Blumrich, Ilon and Smith.
The ability to move in any direction or rotate within
the perimeter of the vehicle is advantageous for any
industrial or commercial vehicle that must be maneuvered
within confined spaces (e.g. warehouses) or with particular-
precision, including forklifts, scissorlifts, aircraft
support and maintenance platforms, munitions handling
vehicles, cranes, motorized dollies, and delivery trucks.
Although the functionality of many vehicles can be
enhanced with omni-directional technology, forklifts are
particularly improved when equipped with omni-directional
capabilities. As is well known in the art, forklifts are
vehicles with a hydraulically or mechanicaily powered
liftforks that are used to lift, support and position a
load.
Similarly, the ability to move laterally and rotate
(e.g. within the vehicles own footprint) enables easy and
precise positioning of omni-directional scissorlifts. As is
well known in the art, a.scissorlift is a vehicle that
features a work platform suitable for supporting a worker
that is hydraulically or mechanically raised or lowered to
place the platform at the elevation where work is to be
accomplished. Compared to a conventional scissorlift, an
omni-directional capable scissorlift requires fewer
operator maneuvers and less room to position it in a
desired location or orientation.
Other vehicles that will benefit from omni-directional
capability include wheelchairs, whether of self-propelled
4
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
or unpowered designs that are well known in the relevant
art. Omni-directional capability permits the wheelchair
operator to maneuver freely in confined spaces such as
elevators and subway cars. The ability to move laterally at
will is of particular value to wheelchair operators.
Omni-directional mobility is also of value for a wide
variety of industrial and military uses including material
transportation within a factory, aircraft maintenance, and
any other use where precise, controlled omni-directional
motion is desired.
Despite the known commercial need for omni-directional
vehicles, initial omni-directional technologies did not
achieve widespread commercial success due in part to the
vibration and uneven ride produced by early omni-
directional wheel designs. However, various improvements in
omni-directional wheel designs have been made in recent
_
_. .
years and are exeiriplified by the disclosures o'U: :-Paterit
Nos. 6,340,065 and 6,547,340 owned by Airtrax, Inc. In
particular, the improvements in omni-directional wheel
technologies that have been made by Airtrax, Inc. have
vastly improved their commercial viability. Such commercial
usefulness has been principally improved by designing an
omni-directional wheel which exhibits constant compliance
while rotating under load. When- such--a- wheel desi-gn is-
employed on a vehicle, the vehicle exhibits substantially
constant ride height during directional operation thereby
reducing vehicle vibration and allowing higher safe
operational speeds. Other improvements in omni-directional
wheels made by Airtrax, Inc. have increased the load
carrying capacity of the wheels.
Although, as aforesaid, the commercial viability of
omni-directional wheels has been improved dramatically by
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
various relatively recent Airtrax, Inc. innovations, the
actual implementation of omni-directional wheels, much like
the implementation of any major structural improvement in a
given technology, can require substantial time and effort.
In particular, using prior art technology and techniques in
order to install omni-directional wheels on a conventional
vehicle (e.g. an aircraft maintenance vehicle or a
munitions handler) conventionally required making
substantial structural and or design changes to the vehicle
itself. Such changes required considerable mechanical
and/or engineering skill as well as significant labor times
and/or costs.
Taking into account the foregoing problems of vehicle
conversion in the art, it would be beneficial to reduce the
time and labor costs of converting vehicles to include
omni-directional capabilities. Furthermore, it would be
.............:. _ .
more cost effective to reduce the amount of skilled" labor
required to convert such a vehicle (e.g. because skilled
labor typically receives higher wages).
In view of the above-enumerated drawbacks, it is apparent
that there exists a need in the art for apparatus and/or
methods which solve and/or ameliorate at least one of the above
problems of prior art omni-directional technologies. It is a
purpose -of' this - invention -to---ful-fill--these- nee'ds n -the- a-rt: a-s-
=
well as other needs which will become more apparent to the
skilled artisan once given the following disclosure.
SUMMARY OF INVENTION
Generally speaking, this invention addresses the above
drawbacks by providing:
an omni-directional wheel module comprising:
an omni-directional wheel having a hub;
6
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
an axle carrying the omni-directional wheel so that
the omni-directional wheel is capable of rotating about the
axle;
a motor for powering rotation of the omni-directional
wheel about the axle;
a transmission operatively interconnected between the
motor and the omni-directional wheel; and
a brake for selectively inhibiting rotation of the
omni-directional wheel; and
wherein the module components are assembled as a
unitary, functional modular wheel assembly selectively
installable and removable as an assembled unit.
In one embodiment, the omni-directional wheel employed
by said module is so constructed such that a vehicle
employing a plurality of such omni-directional wheels
exhibits substantially constant ride height during
directional operatiori.
In a preferred embodiment, the omni-directional wheel
comprises:
a plurality of roller mounting brackets coupled to the
hub; and
a plurality of rollers each rotatably coupled to at
least one of the roller mounting brackets at a roller
mounting angle, the-rollers comprising;
a core rotatably coupled to the roller mounting
bracket, the core having a first end and a second end; and
a contact surface of elastomeric material coupled to
and radially disposed about the core with a volumetric
shape such that the exterior profile of the contact
surfaces of all the rollers forms a noncircular profile
when viewed from a perspective laterally displaced from and
coincident with the centerline of the hub.
7
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
In a further embodiment, therein is provided a vehicle
comprising:
a vehicle frame;
a power storage device carried by the vehicle;
a plurality of omni-directional wheels operatively
connected to the vehicle;
the power storage device being so connected to the
motors of the plurality of omni-directional wheels such
that the power storage device is capable of providing power
to the motors to cause selective rotation of the plurality
of omni-directional wheels.
In yet a further embodiment, there is provided:
a method of converting an object into an omni-
directionally locomotable vehicle, the method comprising:
assembling a plurality of omni-directional wheel
modules to the object.
In still a further preferred einbodiment, tYiereiri is
provided:
a method of converting a non-omni-directional vehicle
into an omni-directional vehicle, the method comprising:
removing existing non-omni-directional wheels from a
non-omni-directional wheeled vehicle;
connecting a plurality of omni-directional wheel
modules t-o the vehicle to impart to the-vehicle omni-
directional functionality.
In still more preferred embodiments, there is
provided:
a method of converting a non-omni-directional vehicle
into an omni-directional vehicle, the method comprising:
connecting a plurality of omni-directional wheel
modules to the vehicle to impart to the vehicle omni-
directional functionality. In at least one form of this
8
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
embodiment, the omni-directional vehicle retains at least
one non-omni-directional wheel. In at least a second form
of this embodiment, the non-omni-directional vehicle is a
four-wheeled vehicle having four non-omni-directional
wheels, and two of the non-omni-directional wheels are
removed from the vehicle; and two of the non-omni-
directional wheels are retained on the vehicle.
In an alternative embodiment, it is an object of the
invention to provide a hybrid powered vehicle in which a
reformer is located onboard the vehicle for providing fuel
to a fuel cell. In at least one of such alternative
embodiments, the reformer is capable of converting a fossil
fuel, such as jet fuel, into hydrogen.
In yet a further alternative embodiment, additional
omni-directional wheel modules are employed to increase the
load carrying capacity of a vehicle. In one such example,
six modules are employed. In another example, s'ix oinni=
directional wheel modules are installed on a crane-type
vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 illustrates in diagrammatic, profile view an
omni-directional wheel module according to one embodiment
of the subject invention.
FIG. 2 illustrates a vehicle employing one embodiment-
of omni-directional wheel modules according to the subject
invention.
FIG. 3 schematically illustrates a vehicle control
system according to one embodiment of the subject
invention.
FIG. 4 illustrates an overhead view of the vehicle and
omni-directional wheel modules illustrated in FIG. 2 with
9
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
an alternate position of the operator station depicted by
dotted lines.
FIG. 5 illustrates a profile view of the embodiment of
the load carrying vehicle shown in FIG. 2 with an alternate
position of the operator station depicted by dotted lines.
FIG. 6 illustrates a rear profile view of the
embodiment of the load carrying vehicle depicted in FIG. 5.
FIG. 7 illustrates one embodiment of a crane employing
a plurality of omni-directional wheel modules according to
one example of the subject invention.
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
DETAILED DESCRIPTION OF THE INVENTION
The present invention is generally directed to omni-
directional wheel modules and vehicles employing the same. In
some embodiments, the present invention is directed to methods of
converting objects and non omni-directional vehicles into omni-
directional vehicles or hybrids thereof (for example, having both
non omni-directional and omni-directional wheels).
In preferred embodiments, such modules are independently
functional and have an (1) omni-directional wheel, (2) an axle,
(3) a motor, (4) a motor controller, (5) a transmission, and (6) a
brake assembled together as a unitary assembly. In such
embodiments, the independent and unitary assembly is readily
implemented in desired applications, for example converting non
omni-directional vehicles into vehicles with omni-directional
capabilities. As discussed -herein and as il-lustr-ated.._in. the._non-. .....
.
limiting embodiments shown in the Figures, vehicles of the present
invention employing inventive wheel modules are capable of being
used to load, transport, and unload heavy loads, due to the
desirable load bearing characteristics of omni-directional wheels
used in the inventive wheel modules.
In order to illustrate the present invention, Figures are
provided which show certain non-limiting embodiments of tYie
present invention. Turning to Figure 1, a diagrammatic, profile
view of an omni-directional wheel module 100 according to one
embodiment of the present invention is shown. As shown in Figure
1, a wheel module 100 of the present invention generally includes
an axle 102 with mounts 104 for attachment of omni-directional
wheels (not shown; as discussed below), a transmission system 106,
a braking mechanism 108 and a motor 110. Various elements of
11
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
wheel module 100 may be enclosed in a housing 112 (Figure 2).
In the present invention, suitable omni-directional wheels
include, for example, known omni-directional wheels which may be
mounted on hub 102. For example, suitable omni-directional wheels
include those described in US Patent Nos. 6,340,065 and 6,547,340,
hereby incorporated by reference in their entirety, and other
omni-directional wheels sold commercially, such as those sold by
Airtrax Corporation. Transmission system 106 may be, for example,
a 20:1 speed reducer transmission gearbox; braking mechanism 108
may be, for example, a spring-set electrically released brake; and
motor 110 may be, for example, a modified AC induction motor. One
of skill in the art will recognize that other suitable components
may be used in wheel module 100, so long as wheel module 100
functions as desired.
Figure 2 shows a vehicle employing one embodiment of omni-
directional wheel modules according to the present invention.
Specifically, Figure 2 shows a multi-purpose mobility platform 114
which is useful for the transport of equipment, for example in
military and industrial environments. Such a multi-purpose
mobility platform 114 is highly configurable for various
applications (for example, various wheelbase widths and wheel
tread widths are possible depending on the desired applicatiori)
..l ..
and alows equiprrient to "be rrioved '-easily arid with -pre~cision;
particularly in confined spaces
As shown in Figure 2, a housing 116 includes a load bearing
platform 118 and a compartment therebelow, which contains energy
modules 120 for providing the necessary energy to power wheel
modules 100. Platform 118 is preferably hinged to allow ready
access to energy modules 120. Energy modules 120 may be any
suitable energy source for powering wheel modules 100 and may
12
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
include, for example, conventional lead acid batteries or an air
cooled diesel motor/battery hybrid. In a preferred embodiment, an
operator interface module 122 is attached to housing 116 by a
hinged arm 124 (shown in greater detail in Figures 4-6) and
permits operation of multi-purpose mobility platform 114 in a
walk-behind manner. Figure 3 is a schematic diagram generally
showing the control of the multi-purpose mobility platform 114 of
Figure 2.
Figures 4, 5 and 6 respectively show an overhead view, a side
view and a rear view of the multi-purpose mobility platform 114 of
Figure 2. As shown in various perspectives in each of Figures 4-
6, operator interface module 122 is preferably attached to housing
116 by an arm 124 which is capable of both horizontal and vertical
movement, allowing an operator great flexibility in walking behind
multi-purpose mobility platform 114 while in operation.
The provided figures diagrammatically show a unitary assembly
of a wheel module of the present invention (Figure 1) and a multi-
purpose mobility platform embodiment of the present invention
(Figures 2-6). However, it will be apparent to one of skill in
the art that the inventive wheel modules are suitable for use in
numerous applications, both for converting objects and non omni-
directional vehicles into omni-directional vehicles or hybrids
.. . .
tliereof (for example, having bo. .th non 6mni-directional and omni-
directional wheels). Such vehicles are within the scope of the
present invention.
For example, the inventive wheel modules may be provided as
an independently functioning unitary assembly in a kit for such
applications, allowing any suitable object or vehicle to be
retrofitted with a wheel module of the present invention. In such
a kit, the wheel modules may be entirely self-contained, such that
13
CA 02593168 2007-07-06
WO 2006/062905 PCT/US2005/043949
they may be attached to any suitable object or vehicle, wherein
such object or vehicle does not require any particular equipment
to accommodate such wheel modules. One such embodiment is a
forklift, which are often used in industrial environments with
confined spaces (e.g., warehouses) where maneuvering equipment is
challenging. Other embodiments include, for example,
scissorlifts, aircraft support and maintenance platforms, munition
handling vehicles, motorized dollies, delivery trucks and
wheelchairs. Moreover, the inventive wheel modules may attach to
such objects and vehicles in any conventional manner and have, for
example, a wiring harness capable of being connected to an
operator control module for operating the omni-directional wheels.
Figure 7 illustrates an embodiment of a crane 126 employing a
plurality of omni-directional wheel modules 100 of the present
invention. As illustrated in Figure 7, the crane's arm 128 is
capable of.swinging in both.horizontal.and.verticaldirections
such that a load 130 may be placed on and removed from platform
132. Wheel modules 100 permit crane 126 to be positioned with
great precision for this purpose, as well as for moving crane 126
for transporting load 130 to a desired location. The use of omni-
directional wheels on wheel modules 100 permits crane 126 to
transport, load and unload heavy loads even in confined spaces.
. . . . - ....i- .
Once given the above dsclosure, many otYier features,--
modifications, and improvements will become apparent to the
skilled artisan. Such other features, modifications, and
improvements are therefore considered to be part of this
invention, the scope of which is to be determined by the following
claims:
14
