NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

WASHINGTON. D.C. 20546

N74-18125
REPLY TO
ATTN OF: GP
l/nclas
00/15 30283
TO: KSI/Scientific & Technical Information Division
Attn: Miss Winnie M. Morgan

FROM GP/Office of Assistant General

Counsel for Patent Matters

SUBJECT: Announcement of NASA-Owned U.S. Patents in STAR

In accordance with the procedures agreed upon by Code GP

and Code KSI, the attached NASA-owned U.S. Patent is being
forwarded for abstracting and announcement in NASA STAR.

The following information is provided:

U.S. Patent No. J , '" I , ' ! j

Government or e^T
Corporate Employee

Supplementary Corporate
Source (if applicable)

NASA Patent Case No. M

NOTE - If this patent covers an invention made by a corporate
employee of a NASA Contractor, the following is applicable:

YES y NO
Pursuant to Section 305(a) of the National Aeronautics and
Space Act, the name of the Administrator of NASA appears on
the first page of—the_pa-ten.t-;- however, the name of the act.ua
inventor (author) appears at the heading of column No. 1 of
the Specification, following the words "...with respect to
an invention of ..."

L.

Bonnie L. Woerner
Enclosure
United States Patent 11*1 mi 3,789,947
Blumrich [45] Feb. 5, 1974

[54] OMNIDIRECTIONAL WHEEL

[75] Inventor: Josef F. Blumrich, Huntsville, Ala. Primary Examiner—Kenneth H. Belts
Assistant Examiner—John A. Pekar
[73] Assignee: The United States of America as Attorney, Agent, or Firm—L. D. Wofford, Jr. et al.
represented by the Administrator of
the National Aeronautics and Space [57] ABSTRACT
Administration, Washington, D.C.
The apparatus of the invention consists of a wheel
[22] Filed: Apr. 17, 1972 having a hub with radially disposed spokes which are
(21] Appl. No.: 244,519 provided with a plurality of circumferential rim seg-
ments. These rim segments carry, between the spokes,
rim elements which are rigid relative to their outer
[52] U.S. Cl 180/79.3, 301/5 P support surfaces, and defined in their outer contour to
[51 ] Int. Cl B62d 5/02 form a part of the circle forming the wheel diameter.
[58] Field of Search 180/79.3, 6.2, 7 R, 8 F; The rim segments have provided for each of the rim
301/5 P elements an independent drive means selectively oper-
able when the element is in ground contact to rotat-
[56] References Cited ably drive the rim element in a direction of movement
UNITED STATES PATENTS perpendicularly lateral to the normal plane of rotation
3,465,843 9/1969 Guinot 180/79.3 and movement of the wheel. This affords the wheel
omnidirectional movement.
FOREIGN PATENTS OR APPLICATIONS
822,660 11/1951 Germany 301/5 P 5 Claims, 4 Drawing Figures

. 7
PATENTED^ 51974 3.789.947
SHEET 1 Of 3

-6

FIG. I.
PATENIEDttB 51974 3.789.947
SlffET 2 OF 3

FIG.2.
PATENTED^ 5B74 3.789.947
SHEET 3 OF 3

TTTTTTTTWFP

FIG. 4
 3,789,947
1
OMNIDIRECTIONAL WHEEL tion. It will be noted that in connection with the form
of the reference patent as shown in FIGS. 5 and 6 that
the axis of rotation 12 of the main body of the wheels
ORIGIN OF THE INVENTION 17 is parallel to the general longitudinal axis of the ve-
The invention described herein was made by an em- 5 hide. The same is true of the axis 5 in FIG. 4. FIG. 7
ployee of the United States Government and may be in this patent, again, is a device to allow continued for-
manufactured and used by or for the Government for ward motion of the vehicle, the axes 5 to be substituted
governmental purposes without the payment of any for the axes by the same designated number in FIG. 8,
royalties thereon or therefor. but employing an endless track with roller segments 19,
10again designed to swing the front of the vehicle in a
BACKGROUND OF THE INVENTION curving radius of turn.
1. Field of the Invention Nowhere in this patent is the concept shown where
This invention relates in general to wheels such as all of the wheels of the vehicle would have rim elements
may be used for propelling and giving direction to independently driven by rim segments, selectively op-
driven vehicles. The purpose of the invention is the 15 erable when the element is in ground contact to rotat-
achievement of maximum directional driving capability ably drive the rim element in a direction of movement
of a vehicle operating on the ground. The great major- perpendicularly lateral to the normal plane of rotation
ity of vehicles introduce a change of their driving direc- and movement of the wheel, affording an omnidirec-
tion by steering one or more of their wheels, this being tional movement, which could instantly move a vehicle
accomplished by turning such wheels about a vertical 20 in a direction lateral to the direction, or transverse to
or near-vertical axis. Vehicles of the endless track type the direction of the normal forward movement. It
can'be steered by different speeds in the track. The should be noted, in this connection, that FIG. 5 and 6
normal wheel enables a vehicle to follow a curved path, of the reference patent do not disclose or suggest a
and the application of tracks offers an additional ad- driving means for the flexible toric tire 17. In the appli-
vantage in the capability to turn the vehicle at the spot. 25 cation of this embodiment there is no suggestion of in-
Various types of wheels have been proposed for the dependent driving means for this element,
steering of a vehicle which provide a short turning ra- Therefore, there is a need for a wheel such as the one
dius for the vehicle. However, none of the previously which is disclosed in the instant specification.
proposed devices of this type adequately provide a
wheel which is sufficiently rigid to support a positive 30 SUMMARY AND OBJECTS OF INVENTION
drive means capable of negotiating rough terrain; and Accordingly, it is a primary object of this invention
at the same time, have the capability of direct mobility to provide a driven wheel which will have the capability
in any direction on the ground without requiring and of providing omnidirectional movement.
change of orientation relative to the vehicle of which A feature in connection therewith is the adaptation
the wheel is a part. It can readily be seen that it is desir- 35 in a wheel of a rim having a plurality of spaced rim ele-
able to have a wheel for certain applications under nor- ments which will move laterally in relation to the nor-
mal conditions, such as used in the movement of mo- mal plane of rotation and movement of the wheel.
bile cranes, which would give this direct lateral move- A further important object is to provide a wheel of
ment. In space exploration, there is need for a wheel, substantially rigid rim structure comprising a plurality
40
such as that provided in a lunar vehicle, which can be of spaced rim elements which can be activated selec-
readily subjected to the severe environmental condi- tively to urge the wheel in a direction lateral to its nor-
tions encountered in space exploration, provide maxi- mal plane of rotation.
mum lateral movement capability, but also be depend- A feature in this connection is to provide in such a
able in its operation such that a failure of one driving wheel a hub with spokes carrying independently driven
means will not disable the entire wheel, and hence the 45 rim segments operable to selectively rotate, in a lateral
space vehicle. direction, supported rim elements as they are in ground
2. Discussion of Prior Art contact.
The most pertinent reference in the prior art of this To achieve the foregoing objects and ends, I have
field is U.S. Pat. No. 3,465,843, to Guinot, for a Vehi- provided a wheel having a hub with radially disposed
50 spokes. At the outer end of each spoke there is located
cle with Improved Steering Device.
This patent discloses a steering device mounted on a shaft with its longitudinal axis perpendicular to the
the vehicle chassis for rotation in a substantially verti- longitudinal axis of the spoke, and extending laterally
cal plane transverse to the vehicle, the steering device therefrom. Upon each of the laterally extending shaft
having a plurality of carrier elements all having at least „ ends is carried a rotatable rim segment which supports
a portion of circular section and being pivotally on its outer surface rotatable rim elements having an
mounted on respective axes transverse to the axis of ro- arcuate surface forming the successive circumferential
tation of the steering device. contact surfaces of the wheel. Each alternate pair of
This patent deals with a vehicle which is steered by rim segments is independently propelled by a separate
a separate steering unit. Since all of the embodiments 6Q driving means. The other alternate pairs of rim seg-
of the invention disclosed herein are designed to be ments around the circumference of the wheel, in the
mounted on the forward steering unit comprising the embodiment shown, are idler units without driving
frame 6, as applied and suggested in this patent, they means.
still afford a curved radius of turn for the vehicle to There are two embodiments of the invention shown
which they are mounted. Even those embodiments for independent driving means for the rim segments.
shown in FIG. 4, 5, 6 and 7 are, nevertheless, designed
to afford a turn to the vehicle by swinging motion of the BRIEF DESCRIPTION OF THE DRAWINGS
front end thereof in a radius defining a curved direc- FIG. 1 is a pictorial elevation view of an embodiment
 3,789,947
3 4 ' - •
of the wheel of the invention, showing the disposition The cavity 14 of the rim element 7 has at least two,
of the rim segments supporting the circumferential rim correspondingly opposed, rigid splines 16 having
elements. formed at their ends inwardly projecting teeth 17
FIG. 2 is a partial sectional view taken through a non- adpted to be received by the corresponding grooves 12
driven, idler, pair of rim segments, along the respective 5 of the rim segments 6.
longitudinal axes of a spoke, rim segments and the sup- In the embodiment of the invention shown in FIG. 2,
ported rim elements. the teeth 17 must be circular in cross-section and their
FIG. 3 is a partial sectional view taken through a pair configuration corresponding to the inner contour of the
of driven rim segments, along the respective longitudi- grooves 12. It is also desirable that each of the longitu-
nal axes of the segments and spoke, with a full drive 10 dinal axes of the teeth 17 be collinear with a radius of
shaft in position, showing one embodiment of a drive the semi-spherical rim segment 6, along the circumfer-
means for the segments. ence of which the grooves 12 are formed; and that the
FIG. 4 is a partial sectional view taken through a pair segments 6 extend inwardly, relative to the rim ele-
of driven rim segments, along the respective longitudi- ments 7, a sufficient distance to afford a firm base on
nal axes of the segments and spoke, showing another 15 which the teeth may rest to support these elements.
embodiment of a drive means for the segments. This is true because the teeth are both load-bearing and
TM?TA ii ci-» nr.e/-nnvri/iKi nr?
DETAILED DESCRIPTION OF THE INVENTION-r-iir- ivn/i-vt-»-,^xi pivotal in their function,
^ as follows:
^ When „the rim seg-
*
mems 6 rotate about shaft g teeth
Referring more particularly to the drawings, in FIG. the length of the grooves 12, with the segments 6 im-
1 is shown one embodiment of the wheel of the inven- ° parting rotation along their longitudinal axes to the rim
tion as it would appear in a side view, provided with a elements 7. Geometrically, this relationship results in a
hub 1 having a bore 2 adapted to receive the wheel force transversely across the grooves, as they move out
shaft of a supported vehicle. of their top or bottom dead-center position, and the
Radially disposed around the hub 2 are a series of teeth traverse the length of the grooves. This can be vi-
spokes 3 (3') which may be hollow with an extension sualized if one considers the relationship as that of a
4, as shown in FIGS. 3 and 4, to accommodate the nee- universal joint in a driving operation. The retaining col-
essary electrical connections and a driving means; or lar 13, it can be seen, operates as a stop for the teeth
they may be formed as a solid piece, as indicated in 17 and also maintains the spaced relationship of the rim
FIG. 2, where they carry idler rim segments. 30 elements 7 from the spokes 3.
At the outer end of each spoke there is provided a In the embodiment of the invention indicated, the
shaft 5 whose longitudinal axis is perpendicular to the number of radial toothed splines 16 and corresponding
longitudinal axis of the spoke. Rotatably mounted on grooves 12 employed will depend upon the load-
each shaft is a pair of opposed rim segments 6. Each bearing stability demanded of the wheel; as long as they
rim segment supports a rim element 7, the outer config- 35 are arranged in opposing pairs, with the longitudinal
uration of which is such that all of these elements to- axes of the teeth oriented as indicated relative to the
gether form the circumferential weight bearing sur- radius of the rim segments, and such that there will be
faces of the wheel. no "wiping effect" to destroy the lands between the
It can readily be seen that the concept of the inven- grooves. The lands of the rim segments are the main
tion is that the rim segments 6 will be employed to ei- 40 weight transfer bearing surfaces for the rim elements.
ther support the rim elements 7 as idler units, or the Referring to FIG. 3, there is illustrated one embodi-
segments 6 will drive these elements 7 to provide lat- mentof a driving means to impart rotational motion to
eral motion, in the direction desired, in a plane of rota- the rim segments 6. In this illustration, the alternate
tion perpendicular to the normal plane of rotation of spokes 3' are provided as indicated with an extension
the wheel. Hence, while each spoke 3 could support a 45 4, the spokes being hollow to house the driving mecha-
set of rim segments 6 and elements 7 provided with a nism. The shaft 5' (not in section for better definition)
driving means, the wheel can be constructed with alter- is mounted through the spoke 3' on bearing surfaces
nate spokes provided with a driving means as in the 18, with its longitudinal axis perpendicular to the longi-
embodiment shown. . tudinal axis of the spoke. Rim segments 6, having their
Referring more particularly to FIG. 2, where the par- 50 own spokes 8, are rigidly affixed by their hubs 9 to the
tial sectional view is taken through an idler set of rim shaft 5'. Within the hollow of the spokes 3' a worm
segments and elements, each rotating rim segment 6 gear wheel 19 is also rigidly affixed to the shaft S', and
comprises a wheel having its own spoke 8 and hub 9 corresponds with a worm 20 which is driven by an elec-
suitably mounted on a bearing surface 10 on the shaft trie gear motor 21.
5. The outer rim 11 is semi-spherical, formed with at 5 Referring then to FIG. 4, another embodiment of a
least two lengthwise extending opposed grooves 12, driving means for the rim segments can be seen. Here,
and has affixed to its inner edge a retaining collar 13. the spoke 3' is formed with a laterally extending hollow
The rim element 7 is of arcuate configuration, con- shaft 5", whose axis is perpendicular to the longitudi-
toured with an arc radius corresponding to that of the nal axis of the spoke 3'. In this illustration there is a
wheel, as indicated in FIG. 1, such that the elements modification of the rim segment hub 9 such that it can
will form with their outer weight bearing surfaces the be mounted on bearing surfaces 10 on the shaft 5"The
continuous circumference of the wheel. Each rim ele- hub 9' is also provided at its outer end with an inwardly
ment is provided with a cavity 14 adapted to receive extending drive shaft 22. The shaft 22 is driven by
the projection of the rim segment 6, as shown; and has ,. means of an electric motor 23 which is rigidly mounted
an outer casing 15 which may be of metal, rubber or in centered position within the hollow shaft 5" by
suiitable synthetic material, depending upon the envi- means of a mounting collar or bracket 24 affixed to the
ronment in which the wheel will be employed. shaft.
 3,789,947
It can now be seen that there are other possible varia- experienced a failure in operation, the wheel could sim-
tions of the driving means, as indicated in FIGS. 3 and ply be moved in its normal plane to another one of the
4, in their application to the wheel as shown in FIG. 1. selectively operated wheel elements.
Driving means could be provided in the case of each From the foregoing it will be seen that the invention
spoke 3 for each pair of rim segments to provide more is well adapted to attain all of the ends and objects
power, but under normal circumstances the use of a hereinabove set forth, together with other advantages
driving means at each alternate spoke would appear to which are obvious and which are inherent to the struc-
be satisfactory. Of course, the electrical connections to ture.
actuate the motors for the driving means can be It will be understood that certain features of any sub-
through the center of the hollow spokes; and it will be 10 combinations of the invention are of utility and may be
apparent that the motors could be continuously opera- employed without reference to other features and sub-
ble or a switch system could be used to actuate the driv- combinations. This is contemplated by and is within the
ing means for each rim segment only when the rim ele- scope of the claims.
ment is in contact with the ground. It is contemplated As many possible embodiments of the invention may
that on a four-wheeled vehicle the switching means 15 be made without departing from the scope thereof, it
would be synchronized such that all of the ground con- is to be understood that all matter set forth or shown
tacting elements would be actuated at the same time to in the drawings is to be interpreted as illustrative and
start, stop, or reverse the operating motors to move the not in a limiting sense.
wheel laterally, with regard to its normal plane of rota- Having thus described the invention, what is claimed
tion, in any direction desired. 20 is:
The motors shown could be replaced by hydraulic or 1. An omnidirectional wheel for transporting a vehi-
pneumatic drives. Another possibility is the arrange- cle over a travel surface of the character described
ment of a central motor and gear unit outside the rim comprising:
near the main hub of the wheel, with mechanical power a hub;
transmissions through the spokes to the individual rim 25 a radially disposed support structure for rim elements
segments and elements. extending from said hub;
Other possibilities exist for the construction of the a plurality of peripherally spaced laterally rotatable
rim elements. The barrel-shaped configuration shown rim segments having shafts mounting the same on
in FIGS. 1 and 2 could be replaced by a curved cylin- said support structure;
drical segment or element of flexible material. For that 30 a plurality of peripherally spaced laterally rotatable
purpose, known solutions like the Goodyear drop rim elements with means supportably mounting the
thread concept or the principle used for flexible metal same on said segments;
hoses can be applied. However, for the purpose of a said rim elements being mounted with their axes of
stable wheel with a positive lateral drive it is necessary lateral rotation lying in the normal plane of rota-
that the rim element have enough rigidity to transmit 35 tion of said wheel, and their lateral plane of rota-
a positive drive to the rim element without slippage. tion laterally perpendicular to the plane of rotation
Accordingly, the toric element as indicated in U.S. Pat. of said wheel;
No. 3,465,843, to Guinot, would not be appropriate for means for separately driving said rim elements and
this purpose, as previously discussed. segments, selectively operable to actuate the same
The wheel of the present invention has obvious ad- 40 in lateral rotation when said elements are in
vantages. It will provide omnidirectional movement for contact with the travel surface;
.a vehicle through a direct lateral movement of each each of said rim elements comprising an axially ex-
wheel in relation to the normal plane of rotation and tended casing member having an outer contact sur-
movement of the wheel. This means that a vehicle face arcuately contoured to conform to the circum-
could be moved abruptly in a lateral direction, rather 45 ference of said wheel and an inner cavity receiving
than in an emergency required to assume an arcing turn said rim segments.
about a prescribed radius. At the same time, by apply- 2. Apparatus as in claim 1, wherein;
ing lateral movement as well as forward movement of said rim segments comprise shaft mounted wheel ele-
the wheel, an arcuate radius of turn can be achieved. ments having semispherical support surfaces sup-
An important advantage in the application of this 50 porting said rim elements;
type of vehicle wheel in space exploration resides in its said elements and segments having corresponding in-
conservation of power. Where the power source is an terlocking connecting means thereon rotatably en-
energy cell of limited life the power expended in rotat- gaging the same.
ing the entire rim of a wheel in lateral motion, or an en- 55 3. Apparatus as in claim 2, wherein said connecting
tire toric element, would be wasteful. By providing a means comprises a lengthwise extended groove on said
wheel with a rim having a plurality of space rim ele- rim segment and a corresponding spline on said rim ele-
ments which will move laterally in relation to the nor- ment having a depending tooth of substantially circular
mal plane of rotation and movement of the wheel, of cross-section received by said groove, movable longitu-
the type shown in this invention, it is possible to selec- ,„ dinally and rotatable therein, such as to impart driving
lively rotate only that rim element in contact with the motion in angular relation from said segment to said el-
ground, and thereby use a much smaller driving means, ement.
requiring less energy in operation. This is particularly 4. Apparatus of the character described in claim 1,
true where the forward motion of the wheel in its nor- wherein said means for separately driving said rim seg-
mal plane of rotation would be halted, and, then, lateral 65 ments comprises, in combination with said shaft fixedly
motion imparted to the element of the wheel rim in supporting said segments, motor drive means mounted
contact with the ground. It is also possible to afford by in said support structure adjacent to said shaft, includ-
this means a system where, if one of the driving means ing a rotating worm and a worm gear affixed to said
 3,789,947
8
shaft, such as to drive said shaft selectively in recipro- axially mounted in said hollow shaft, having a separate
cal motion. drive coupling engaging an extension of said rim seg-
5. Apparatus of the charactr described in claim 1, ment, such as to drive said segment selectively in recip-
wherein said means for separately driving said rim seg-
ments comprises, in combination with a hollow shaft 5 rocal motion.
movably supporting said segments, motor drive means, * * * * *

10

15

20

25

30

35

40

45

50

55

60

65