Spherical Drive Wheel

A two-axis spherical wheel or ball-wheel is provided wherein hemispheres (or spherical caps) rotate independently about a transverse or spherical axis and rotate dependently about an axial or longitudinal axis. In this way, a ball-wheel supports a vehicle chassis and drives (e.g., translates or rotates) the vehicle in any direction. Systems of ball-wheels are also disclosed. Two, three, four, or more ball-wheels can be joined in a system to support, translate, and/or rotate a vehicle without requiring the vehicle to turn. The ball-wheels include protective features to prevent debris from entering a drive system. Protective features may include springs and/or dampers to absorb impact forces on the vehicle chassis. Orienting the ball-wheels about a center point of the vehicle chassis enhances support and control of the vehicle.

BACKGROUND OF THE INVENTION

The present invention generally relates to the field of wheels and drive systems. The present invention relates specifically to a spherical drive wheel. Conventional wheels rotate about a central axis in one direction. In other words, the wheel has one degree of freedom to rotate. Generally, the wheel can rotate forward and backward along that single directional degree of freedom. The present invention relates to a ball-wheel and drive system that enable additional degrees of rotational freedom.

SUMMARY OF THE INVENTION

One embodiment of the invention relates to a ball-wheel and wheel drive system. The ball-wheel and drive system include first and second spherical caps. The first spherical cap includes a first apex or pole on the first spherical cap, a first base of the first spherical cap including a first center opposite the first pole, and a first motor coupled to the first center and configured to rotate the first spherical cap. The second spherical cap includes a second pole on the second spherical cap, a second base of the second spherical cap including a second center opposite the second pole. The second base of the second spherical cap is parallel and opposite the first base of the first spherical cap to form a spherical zone. A spherical axis is defined through the first pole and the second pole. A second motor is coupled to the second center and configured to rotate the second spherical cap. A shaft is coupled to the first center and the second center. The shaft defines an axial axis. The first motor is configured to rotate the first spherical cap about the spherical axis independent from the second motor that is configured to rotate the second spherical cap about the spherical axis. A third motor is coupled to the shaft and rotates the first spherical cap and the second spherical cap dependently about the axial axis.

Another embodiment of the invention relates to a two-axis ball-wheel and drive system. The system includes a hollow, spherical wheel. The spherical wheel includes first and second equal halves each having a maximum diameter. The maximum diameters are equal, and each has a center. A first plane intersects the first half of the spherical wheel at the maximum diameter of the first half of the spherical wheel. A second plane intersects the second half of the spherical wheel at the maximum diameter of the second half of the spherical wheel. A distance spaces the first and second planes. A longitudinal axis extends perpendicular to the first and second planes and intersects the first and second planes at the centers. A transverse axis intersects the longitudinal axis between the first and second planes. A rotatable shaft, extending along the longitudinal axis, includes an axial bore. A first motor rotates an output shaft within the axial bore of the rotatable shaft about the longitudinal axis. Rotation of the output shaft is transformed into rotation about a transverse axis. The first motor is configured to rotate the first half of the spherical wheel about the transverse axis. A second motor rotates an output shaft within the axial bore of the rotatable shaft about the longitudinal axis. Rotation of the output shaft is transformed into rotation about the transverse axis. The second motor is configured to rotate the second half of the spherical wheel about the transverse axis independent of the rotation of the first half of the spherical wheel about the transverse axis. A third motor is configured to rotate the rotatable shaft and rotate the first half of the spherical wheel and the second half of the spherical wheel dependently about the longitudinal axis.

Another embodiment of the invention relates to a vehicle. The vehicle includes a first ball-wheel, a second ball-wheel, and a third ball-wheel. The first ball-wheel includes a first spherical cap coupled to a second spherical cap at a first center of the first and second spherical caps. The first and the second spherical caps dependently rotate about a first longitudinal axis and are configured to rotate independently about a first transverse axis that is perpendicular to the first longitudinal axis and passes through a first pole of the first spherical cap and a second pole of the second spherical cap. The second ball-wheel includes a third spherical cap coupled to a fourth spherical cap at a second center of the third and fourth spherical caps. The third and fourth spherical caps dependently rotate about a second longitudinal axis and are configured to rotate independently about a second transverse axis that is perpendicular to the second longitudinal axis and passes through a third pole of the third spherical cap and a fourth pole of the fourth spherical cap. The third ball-wheel includes a fifth spherical cap coupled to a sixth spherical cap at a third center of the fifth and sixth spherical caps. The fifth and sixth spherical caps dependently rotate about a third longitudinal axis and are configured to rotate independently about a third transverse axis that is perpendicular to the third longitudinal axis and passes through a fifth pole of the fifth spherical cap and a sixth pole of the sixth spherical cap. The first center of the first and second spherical caps, the second center of the third and fourth spherical caps, and the third center of the fifth and sixth spherical caps are located on a circle such that a diameter of the circle passes through the first center of the first and second spherical caps, the second center of the third and fourth spherical caps, and the third center of the fifth and sixth spherical caps.

DETAILED DESCRIPTION

FIG. 1is a perspective view of a two-axis spherical wheel or ball-wheel10and wheel drive assembly or drive system12, according to an exemplary embodiment. The ball-wheel10includes a first spherical cap14and a second spherical cap16(e.g., hemispheres). An internal support, frame, or inner support bracket18provides structural support for each spherical cap14and16. Ball-wheel10includes drive system12with one or more dependent (or independent) motors20to rotate spherical caps14and16dependently or independently. A dependent motor20rotates both spherical caps in the same direction, speed, and distance. An independent motor, described in greater detail below, is in general configured to rotate one spherical cap14a different direction, speed, and/or distance than a second spherical cap16.

For example, dependent motor20couples to and rotates an inner mounting bracket or shaft22that rotates both spherical caps14and16about the shaft22. Shaft22is rotatably supported by an external or surrounding frame24. As shaft22rotates, spherical caps14and16dependently rotate about the shaft22within outer frame24. Frame24provides mounting locations to couple ball-wheel10and drive system12to a vehicle. For example, spherical caps14and16are greater than hemispheres. Alternatively, spherical caps14and16are less than hemispheres. In one embodiment, spherical caps14and16are equal half spheres or hemispheres.

With reference toFIGS. 1 and 2, an axial or longitudinal axis26extends through shaft22. A spherical or transverse axis28extends orthogonally to the longitudinal axis26at a center30of a sphere32, or the spherical shape formed from coupling two spherical caps14and16. A sphere radius34extends from center30to opposite poles36. When radius34is perpendicular to a base38that is co-planar with center30, the radius intersects the sphere32or spherical cap14or16at a pole36. In other words, a diameter40that passes through center30and is orthogonal to base38passes through the poles36of each spherical cap14and16. Each spherical cap14and16rotates dependently about longitudinal axis26and independently about transverse axis28. In other words, spherical cap14can rotate Counter Clock Wise (CCW) about transverse axis28while second spherical cap16rotates Clock Wise (CW), and both hemispheres rotate together dependently in either direction (e.g., CW or CCW) about longitudinal axis26.

FIG. 2defines a spherical geometric construction, or sphere32that illustrates spherical geometry similar that is the same or similar to the geometry of a spherical ball-wheel10. Sphere32is a collection of equidistant points from center30. Sphere32includes longitudinal axis26passing through center30and parallel to base38and a transverse axis28that passes through center30orthogonal to base38. For example, center30has a radius34which extends from center30in all directions to define a spherical surface with each point equidistant from center30of sphere32. Radius34defines two poles36located on opposite ends of sphere32and collinear with center30. In other words, two collinear radii34form a diameter40that is orthogonal to base38and passes through center30to terminate at two poles36on opposite ends of sphere32. Diameter40defines a maximum diameter40of base38. When base38includes the maximum diameter40through center30, base38is known as a great circle42. Sphere32can be hollow or solid and may be divided into one or more sections (e.g., spherical caps, spherical segments of one base, a spherical segment of two bases, etc.). A spherical cap14or16may include an offset45that is less than radius34and parallel to great circle42. For example, sphere32may be divided along a plane through center30that is equidistant from the pair of poles36forming great circle42. Great circle42is defined as the largest diameter cross-section of sphere32. The collection of all lines or diameters40on a plane through center30defines great circle42, and a line (e.g., diameter40) that passes through center30and is perpendicular to great circle42terminates at and defines poles36. In this configuration, sphere32defines two equal hemispheres44on either side of the great circle42through center30that have bases38at the great circle42.

As shown, base38need not pass through center30. For example, base38is parallel to the plane formed by great circle42but offset45from great circle42to form a spherical cap or spherical segment46with one base38. Spherical segment46with one base38is defined as the segment46of sphere32that extends from base38to one of the two poles36. Spherical segment46with one base38has a second radius48and a height50. Second radius48is defined at a plane offset45from great circle42and is measured along the offset45plane or base38. Height50is the radius34of sphere32minus the offset45distance. By definition, second radius48is less than radius34, but height50may be less than, equal to, or greater than radius34.

In other words, when the spherical segment46with one base38has a base38equal to the great circle42, the spherical segment46with one base38is a half sphere, called a hemisphere44. In this application, spherical segment46with one base38(e.g., spherical caps14and16) refers to any spherical segment46with a base38. In general, a spherical segment46with one base38has a pole36opposite the center30of base38. Spherical segment46with one base38refers to a spherical segment46with a base38that is less than or equal to the great circle42and a height50that is less than, equal to, or greater than radius34. Hemisphere44refers to one half of sphere32with a base38equal to the great circle42. Spherical segments46with one base38may also have a height50greater than radius34, but the second radius48in such applications will remain less than spherical radius34. Spherical segments46can include two bases46. Geometric spherical segments46define the shape of a hollow or solid spherical cap14and/or16used to construct ball-wheel10.

First and second spherical caps14and16each include a pole36opposite center30of base38. Center30is on the base38opposite pole36. First and second spherical caps14and16are oriented on shaft22such that first base38of first spherical cap14is parallel and opposite second base38of second spherical cap16. Collectively, spherical caps14and16form a spherical zone or sphere32. Sphere32includes a spherical or transverse axis28defined through first and second poles36of the first and second spherical caps14. Center30of the spherical zone is created by coupling the spherical caps14and16and is located on the transverse axis28at center30of the spherical zone created from coupling spherical caps14and16.

FIG. 3shows an outer surface, outer traction layer, or exterior52of spherical cap14and/or16that forms ball-wheel10. For convenience only, reference below is made to spherical cap14, although it is to be understood that the description of spherical cap14also applies to spherical cap16. Exterior52includes tractive features54. Tractive features54may be projections and/or holes that facilitate gripping a surface (e.g., by increasing a coefficient of friction between exterior52and the surface). Tractive features54may include different materials on exterior52. For example, a particular material is selected as a tractive feature54for an outdoor environment (e.g., dirt) and another tractive feature54is selected for an indoor environment. For example, tractive features54include masticated rubber, thermoplastic elastomers, co-polymer polypropylene, cross-linked polyethylene, neoprene, EPDM (ethylene propylene diene terpolymer), SBR (styrene butadiene rubber) blends, polyurethanes, polyureas, and/or aliphatic type compounds. In embodiments, the tractive materials are a composite compound including mixed materials. The stiffness of exterior52and/or sphere cap14may also be selected for a particular environment. Exterior52of spherical cap14may be replaceable so that tractive features54can be selected and interchanged to enhance the designed friction, stiffness, and/or deflection of ball-wheel10for a particular operating environment (e.g., mud, gravel, rock, asphalt, dirt, concrete slab, indoors, etc.).

FIG. 4is an inner surface, rigid inner layer, or interior56of spherical cap14forming ball-wheel10, as shown inFIG. 1. Interior56provides structural integrity and rigidity to spherical cap14. Exterior52materials provide traction but the material selected provides independent structural strength to support ball-wheel10. Interior56is formed from a rigid material (e.g., metal or vulcanized rubber) and/or includes internal support bracket18(FIG. 5) to support the loads generated on exterior52. For example, exterior52and interior56are coupled by welding, adhesives, and/or fasteners to support external loads. Exterior52and interior56each include materials of different hardness. For example, exterior52includes a softer material (e.g., lower Rockwell hardness) to absorb vibration and shock, and interior56includes a harder material (e.g., higher Rockwell hardness) to provide structural strength to spherical cap14. The load rating and speed of the intended use for ball-wheel10determines the materials and sizes of exterior52and interior56of spherical cap14. For example, a tractive sphere cap or exterior52includes formations and/or tractive features54to provide traction for the ball-wheel10, and the inner sphere or interior56includes a rigid material to provide structural support to ball-wheel10.

FIG. 5shows an inner support bracket18with bushings58to rigidly couple to spherical cap14. Inner support bracket18supports spherical cap14and secures, mounts, and/or couples spherical cap14to an internal or independent motor60or shaft62(FIG. 8). Inner support bracket18includes bushing58formed at the junction of two frames64that couple to form inner support bracket18. Frames64can have the same or similar shapes. Bushing58rigidly couples the inner support bracket18to a motor60output shaft62(FIG. 8). A first inner support bracket18, e.g., manufactured from a frame64. As shown inFIG. 5, two or more frames64couple spherical cap14to a first motor60aor a first output shaft62a.A second inner support bracket18couples spherical cap16to a second motor60bor a second output shaft62b.(FIG. 8) In this way, each motor60aand60bindependently rotates an output shaft62aor62band/or spherical caps14and16. In other embodiments, a two-shaft motor60has two dependent output shafts62to rotate spherical caps14and16dependently about transverse axis28.

Bushing58couples to and rigidly secures to output shaft62(FIGS. 8) of internal motor60. In various embodiments, bushing58could have a through hole and/or internal or external threads. For example, if bushing58includes internal threads, a bolt passes through apex or pole36of spherical cap14to couple bushing58to output shaft62. Bushing58includes external threads and an external nut couples bushing58to output shaft62. For example, bushing58includes a keyway and set-screw or a D-shaft62on set screws that rigidly receive the motor60output shaft62to rotate inner support bracket18. In another example, bushing58includes a tapered hole at the apex of spherical cap14that secures a non-circular shaft62(e.g., “D”-shaped, hexagonal, gear and sprocket, etc.) to rotate bushing58coupled to spherical cap14. As inner support bracket18rotates sphere cap14(e.g., exterior52and interior56), spherical caps14and16of ball-wheel10rotate independently. In this way, internal motor(s)60couple to and rotate spherical caps14and16independently.

FIG. 6shows a partial assembly of exterior52, interior56, and inner support bracket18ofFIGS. 2-4, according to an exemplary embodiment. This view shows how bushing58transmits the output shafts62rotation from motor60to inner support bracket18, which independently rotates one spherical cap14or16of ball-wheel10.

FIG. 7shows the partial assembly ofFIG. 6with a seal66coupled to spherical cap14(or spherical cap16), according to an exemplary embodiment. Seal66couples to a circumference of base38to prevent debris (e.g., dirt, chemicals, water, etc.) from penetrating inner bracket18or interior56of spherical wheel14. As shown inFIG. 7, seal66forms a base38(FIG. 2) of spherical cap14and/or16. A first seal66is coupled to a first base38of first spherical cap14and a second seal66is coupled to a second base38of second spherical cap16.

FIG. 8is a two-shaft internal motor60(e.g., a motor with two dependent shafts62aand62b). Motor60rotates spherical caps14and16dependently. For example, a first motor60acouples to a first center30of spherical cap14and a second motor60bcouples to a second center30of second spherical cap16. In this configuration, first motor60arotates first spherical cap14about spherical axis28independent from the rotation of second motor60coupled to second spherical cap16. In other embodiments, a single-shaft motor60has a dependent output shaft62to rotate spherical caps14and16dependently about transverse axis28. For example, internal motor60rotates output shaft62dependent on the rotation at an opposite side to rotate spherical caps14and16dependently about transverse axis28.

As illustrated inFIG. 21, first and second independent motors60aand60b,are located within first and second spherical caps14and16, respectively. A third dependent motor20is located on frame24along longitudinal axis26and rotates shaft22. For example, dependent motor20and independent motor(s)60are disposed outside of the spherical zone from coupling spherical caps14and16. Motor20rotates output shaft22about longitudinal axis26, and motor60rotates output shafts62that couple to spherical caps14and16to rotate about the spherical or transverse axis28.

FIG. 9illustrates a mounting bracket or housing68for the two-shaft motor60shown inFIG. 8, andFIG. 10shows motor60coupled to housing68. The assembly shown inFIG. 10includes a motor mounting frame or shaft22for a two-shaft62aand62bmotor60that extends along transverse axis28. Shaft22includes a bore70. Bore70passes through shaft22from one end to the opposite end of shaft22, for example to receive an output shaft22and/or62inside bore70. One or more motors20and60can rotate and/or surround shaft22.

FIG. 11is another embodiment of shaft22that couples to two independent motors60aand60bto each spherical cap14and16, respectively. In this configuration, shaft22dependently couples to each motor60aand60band each motor60aand60bindependently rotates each spherical cap14and16. For example, two single-shaft motors60aand60bcouple to motor mount72and individually to spherical caps14and16to independently rotate first and second spherical caps14and16about transverse axis28. Shaft22is coupled to a third or dependent motor20that rotates shaft22about longitudinal axis26and motor60dependently rotates spherical caps14and16coupled to motor mount72dependently about transverse axis28. In this configuration, the combination of longitudinal and transverse dependent rotations direct the motion of spherical ball wheel10in a desired direction.

FIG. 12is an outer frame24that couples to shaft22to support ball-wheel10and drive system12. Shaft22couples to dependent motor20at motor mount72at one end of outer frame24and a bearing74at an opposite end of outer frame24. Third motor20rotates shaft22within outer frame24to rotate spherical caps14and16dependently around longitudinal axis26. Frame24couples to shaft coupled to spherical caps14and16, such that shaft22is rotatably coupled within frame24.

FIG. 13shows a partial assembly of one spherical cap14of ball-wheel10coupled to shaft22and outer frame24. Motor60ais coupled to a first motor mount72on shaft22and rotates spherical cap14about transverse axis28in the direction of arrows76independent of the rotation of spherical cap16coupled to the opposite motor mount72. The third motor20couples to shaft22and rotates both spherical caps14and16dependently about longitudinal axis26in the direction of arrows78.FIG. 14depicts a partial assembly ofFIG. 13with a protective bracket80for protection from debris. Protective bracket80is disposed between first and second spherical caps14and16to block foreign debris from entering the interior56of ball-wheel10.

FIG. 15shows a partial assembly ofFIG. 13with a spring loaded protective bracket82for support and debris protection. The spring-loaded protective bracket82is similar to the seal66. Whereas seal66couples to base38(FIG. 2) of sphere caps14and16, spring loaded protective bracket82couples to shaft22and is adjacent to base38. Protective bracket includes springs84that couple an upper protective bracket to a lower protective bracket82about shaft22to provide support to ball-wheel10. Springs84bias protective brackets82surrounding shaft22and enhance support between the spherical caps14and16as ball-wheel10rolls.

With reference toFIGS. 16-17, a side view of a ball-wheel10and drive system12is illustrated to show how the rotation of the ball-wheel10in a CW direction (FIG. 16) moves the ball-wheel10right.FIGS. 16-17show longitudinal axis26in the plane of the page and transverse axis28into and out of the page. Outer frame24moves to the right as ball-wheel10assembly rotates CW to drive the ball-wheel10and drive system12forward (e.g., rightward inFIG. 16and forward inFIG. 1).FIG. 17shows the rotation of ball-wheel10in a CCW direction to drive the system back or rearward (FIG. 1) and leftward inFIG. 17.

FIGS. 18-19show a rear plan view of ball-wheel10. In contrast toFIGS. 16-17,FIGS. 18-19show longitudinal axis26into and out of the page and transverse axis28in the plane of the page.FIG. 18shows ball-wheel10rotation in a CW direction to drive the system to the right (FIGS. 1 and 18). In contrast,FIG. 19shows the same rear plan view rotating in a CCW direction to drive the system left. As will generally be understood, this configuration enables the ball-wheel10and drive system12to orient and drive a vehicle in any direction.

Taken together,FIGS. 16-19illustrate how controlling rotation about axial or longitudinal axis26and spherical or transverse axis28(e.g., the speed of rotation about each axis) allows an operator to drive the system in any direction. Coordinating the speed of dependent rotation about longitudinal axis26and transverse axis28enables the system to translate in any desired direction without turning.FIG. 20combinesFIGS. 16-19to show how the rotation of spherical caps14and16shown inFIGS. 16-19selectively drives ball-wheel10in any operator designated direction. Combining direct and/or indirect rotation of spherical caps14and16translates ball-wheel10in a 0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°, or at any other angle.

An operator is enabled to fit and operate the vehicle in a variety of previously foreclosed settings. If the operator wishes to turn the vehicle, coordinated operation of ball-wheels10in different directions accomplishes the task. Thus, ball-wheel10provides the operator independent control over the direction and the turning operability of the vehicle by providing an additional degree of freedom. In other words, the operator can move the vehicle in any direction with or without turning the vehicle.

Additional descriptions of ball-wheel10and drive system12as well as vehicles and/or systems that deploy ball-wheels10are included in Appendix A.

FIG. 21is a cross-sectional view of another ball-wheel10and drive system12. In the illustrated embodiment, three motors20,60a,and60bare located on frame24external to spherical caps14and16. Independent motors60aand60bare coupled to shafts62aand62b,respectively. Rotation of output shafts62aand62bis transformed to rotate axels86aand86bof spherical caps14and16, respectively. For example, output shafts62aand62bcouple to a bevel gear88aand88bto transform the rotation output shaft62aor62brotation to an axel86aor86bof spherical cap14or16.

A hollow ball-wheel10includes first and second hemispheres44(e.g., spherical caps14and16may be hemispheres44) each having a base38with maximum diameter40of great circle42passing through center30. A first base38intersects sphere32at maximum diameter40along great circle42to divide sphere32into a first half (e.g., hemisphere14) and a second half (e.g., hemisphere16). Base38defines a plane that separates each hemisphere14and16. Bases38are then spaced apart by a small distance or gap90for shaft22. In one embodiment, spherical caps14and16are not hemispheres44, but include two spherical caps14and16with bases38, e.g., having equal second radii48.

Spherical ball-wheel10includes three motors20,60a,and60beach coupled to an output shaft22,62a,and62b,respectively. A first independent motor60ais located outside ball-wheel10and rotates spherical cap14independently about spherical axis28relative to spherical cap16, which is powered by motor60b.Motor60acouples to output shaft62athat rotates within an axial bore70(FIG. 11) of rotatable shaft62a.Output shaft62rotates about longitudinal axis26within bore70. A bevel gear88aconverts or transforms rotation of output shaft62ainto rotation of an axle86aabout transverse axis28. For example, axel86arigidly couples to a bushing58that rigidly couples axel86ato spherical cap14and independently rotates cap14about axis28.

Similarly, a second independent motor60bis located on frame24outside ball-wheel10. Motor60bincludes a second output shaft62brotating within axial bore70of shaft22(e.g., on the opposite side of shaft22). Output shaft62brotates about longitudinal axis26in bore70and couples to bevel gear88bto rotate axel86babout transverse axis28. In one embodiment, bevel gears88aand88bare different sizes. For example, bevel gear88ais larger or smaller than bevel gear88bto avoid interference with the rotation of bevel gear88b.Second independent motor60bis configured to rotate second spherical cap16independent of the rotation of spherical cap14about transverse axis28. In other embodiments, bevel gears88aand88bare the same or similar size and dependently rotate spherical caps14and16about transverse axis28.

In other words, a first motor60aand a second motor60bare mounted on frame24, which surrounds ball-wheel10and rotate corresponding output shafts62aand62bwhich couple to bevel gears88aand88bto transform the motor60aand60boutput into rotation about the transverse axis28. A third or dependent motor20is also disposed outside ball-wheel10on frame24and is configured to turn rotatable shaft22. As shaft22couples to spherical caps14and16, it rotates the spherical caps14and16dependently about longitudinal axis26. Ball-wheel10includes a protective bracket80and/or spring-loaded protective bracket82between the first and second halves of spherical caps14and16. Ball-wheel10can also include a seal66(e.g., on either spherical cap14or16). For example, a first seal66is coupled to the first base38of spherical cap14(e.g., the first half) and a second seal66coupled to the second base38of spherical cap16(e.g., the second half).

FIG. 22shows a single ball-wheel10system100for a vehicle. In this configuration, a ball-wheel10and drive system12are located at the system center point92(FIG. 26) of system100, and a plurality of casters94surround the central ball-wheel10and drive system12. The single ball-wheel10system100uses additional supports and/or wheeled components such as casters94. Casters94provide stability to the ball-wheel10system100. In some In this configuration, casters94are used to steer the vehicle, such that each caster94is controlled by the operator to turn or drive system100in any desired direction. A vehicle couples to frame24of ball-wheel10and ball-wheel10provides power to the vehicle. Casters94provide additional support. Casters94are configured with a rank angle that enables the caster94to rotate and support the vehicle. Casters94and/or ball-wheel10are load rated to support the vehicles weight and any additional loads that may be applied to system100.

FIG. 23shows a perspective view of a two ball-wheel10vehicle system200. As shown inFIG. 23casters94provide additional stability to two ball-wheel10system200uses fewer casters94compared to the single ball-wheel system100ofFIG. 22. In this configuration, two ball-wheel system200has two ball-wheels10and two or more supporting casters94. One function of castors94is to support the two ball-wheel system200. In various embodiments, casters94may freely rotate or may be controlled by the operator (e.g., to steer the vehicle). For example, a first ball-wheel10may operate in one direction while the second ball-wheel10operates in a second direction to turn the vehicle with a two ball-wheel system200. Similarly, two ball-wheels10may operate together (e.g., dependently), to turn system200. In other embodiments, the operator controls casters94and/or the first and second ball-wheels10to steer the vehicle. In this way, two ball-wheel system200enables the operator to translate and/or turn (e.g., rotate) system200in any desired direction.

Internal motor60may be a single motor60or include two motors60aand60bthat independently drive spherical caps14and16. As the number of ball-wheels10increases internal motor60can include a single motor60with two output shafts62aand62b.Also, the increased number of ball-wheels10increases traction distributed over ball-wheels10and enhances the stability of the vehicle based on the coordination of the ball-wheels10.

FIG. 24illustrates a three ball-wheel10system300with three ball-wheels10oriented radially from a central location or center point92(FIG. 26). For example, center30of each ball-wheel10in system300is located on a system circle96with a vehicle system radius97extending from a center point92of vehicle chassis98(see, e.g.,FIGS. 26 and 27). Since each ball-wheel10in system300can operate independently, the operator is free to translate or turn system300in any direction. The additional ball-wheels10change the weight rating and enhances support for heavier and/or dynamic loads and enhance traction and stability. Three ball-wheel system300eliminates casters94by spacing each ball-wheel10radially from a center point92(FIG. 26) centrally located on chassis98. For example, the center point92of three ball-wheel system300may be located at the systems center of gravity (CG). In other embodiments, casters94are used to stabilize system300.

FIG. 25shows a perspective view of a four-ball-wheel system400.FIG. 26is a top view of the four-ball-wheel system400with a system circle96having system radius97that passes from system center point92(FIG. 26) through a center30of all four ball-wheels10.

Similar configurations with vehicle system radii for a 3, 4, 5, 6, 7, 8, or more ball-wheel system are envisioned. RegardingFIGS. 23-25, each ball-wheel10in a multi-ball-wheel10assembly (e.g.,200,300, or400) uses a control algorithm to control each ball-wheel10within the system. The same or similar control algorithm is implemented for every ball-wheel10. This algorithm is facilitated by locating each ball-wheel10an equal distance or vehicle system radius97from system center point92(seeFIG. 26). This configuration enables the system to use the same or similar control algorithm software for each ball-wheel10without using a unique algorithm to control each ball-wheel10in the system individually.

With reference toFIG. 26, each ball-wheel10has a pair of spherical caps14and16. For example, a first ball-wheel10aincludes first and second spherical caps14aand16a,a second ball-wheel10bincludes third and fourth spherical caps14band16b,and a third ball-wheel10cincludes fifth and sixth spherical caps14cand16c.A fourth ball-wheel10dincludes seventh and eighth spherical caps14dand16dcoupled at a fourth center30dof spherical caps14dand16d.The seventh and eighth spherical caps14dand16ddependently rotate about a fourth longitudinal axis26and rotate independently about a fourth transverse axis28perpendicular to the fourth longitudinal axis26. The transverse axis28passes through a seventh pole36dof the seventh spherical cap14dand an eighth pole36dof the eighth spherical cap16d.The first, second, third, and fourth centers30each correspond to a ball-wheel10located in a circular formation on system circle96. The vehicle system radius97begins at a vehicle center92and passes through a center30of each ball-wheel10.

FIGS. 27-36show various embodiments and features of ball-wheel10systems implementing a three ball-wheel vehicle500(FIGS. 27-31) and a four-ball-wheel vehicle600(FIGS. 32-36), according to various exemplary embodiments. As shown, three ball-wheel vehicle500is a forklift, and four-ball-wheel vehicle600is a telehandler, but other configurations can be used with three and four-ball-wheel vehicles500and600. For example, similar ball-wheel10systems can be used on skid steers, articulated loaders, telehandlers, man-lifts, utility vehicles, powered wheel-chairs, lawn mowers (riding or walk-behinds), Automated Guided Vehicles (AGVs), Robots, unmanned vehicles, etc. Ball-wheel10systems enhance move-ability by allowing translation and/or rotation of the system in any direction. As illustrated inFIGS. 27-36, each ball-wheel10includes a drive system12and is controlled with dependent motor20and independent and/or dependent motor(s)60. A steering system for vehicles500and600controls the cooperation of individual ball-wheels10. For example, two ball-wheels10may rotate in the same or opposite directions based on feedback from the steering controls.

For convenience only, the following description refers to vehicle500, but it should be understood that the description applies equally to vehicle600and/or assemblies100,200,300, and/or400. Vehicle500includes three or more ball-wheels10(e.g., vehicle600includes four or more ball-wheels10). Each ball-wheel10includes a first spherical cap14coupled to a second spherical cap16. A point between the spherical caps14and16forms a center30of each ball-wheel10. In this way, the first and second spherical caps14and16, of each ball-wheel10, dependently rotate about longitudinal axis26. Also, the spherical caps14and16are configured to rotate independently about transverse axis28that is perpendicular to longitudinal axis26and passes through a first pole36of first spherical cap14and a second pole36of second spherical cap16. In some configurations, first center30aof first ball-wheel10a,second center30bof second ball-wheel10b,and third center30cof third ball-wheel10care each located on a system circle96such that a vehicle system radius97of system circle96passes through first center30a,second center30b,and third center30c.

In some ball-wheel10systems, rotating casters94independently support a vehicle500chassis98. Shock absorption damper springs99between frame24and vehicle500chassis98and/or damper springs99between the first, second, third, and/or fourth ball-wheels10, reduces impact loads on ball-wheel10and enhances operator experience while operating vehicle500. For example, an absorption damper spring99is coupled to frame24to deflect and/or absorb impact forces distributed to ball-wheel10. The first, second, third, and/or fourth ball-wheels10may also include a tractive exterior52, such that the vehicle is configured to operate on rugged terrain. In another embodiment, the outer sphere is a tractive material configured to operate on smooth terrain (e.g., a shop floor or level concrete).

In various exemplary embodiments, the relative dimensions, including angles, lengths, and radii, as shown in the Figures, are to scale. Actual measurements of the Figures will disclose relative dimensions, angles, and proportions of the various exemplary embodiments. Various exemplary embodiments extend to various ranges around the absolute and relative dimensions, angles, and proportions that may be determined from the Figures. Various exemplary embodiments include any combination of one or more relative dimensions or angles that may be determined from the Figures. Further, actual dimensions not expressly set out in this description can be determined by using the ratios of dimensions measured in the Figures in combination with the express dimensions set out in this description.