FR2829968A1 - Wheel for negotiating obstacles, e.g. stairs, has tread sections connected by hinged levers, spokes being pivoted at their outer ends to points where levers join the tread sections and mounted on springs at their inner ends - Google Patents

Wheel for negotiating obstacles, e.g. stairs, has tread sections connected by hinged levers, spokes being pivoted at their outer ends to points where levers join the tread sections and mounted on springs at their inner ends Download PDF

Info

Publication number
FR2829968A1
FR2829968A1 FR0112388A FR0112388A FR2829968A1 FR 2829968 A1 FR2829968 A1 FR 2829968A1 FR 0112388 A FR0112388 A FR 0112388A FR 0112388 A FR0112388 A FR 0112388A FR 2829968 A1 FR2829968 A1 FR 2829968A1
Authority
FR
France
Prior art keywords
wheel
spokes
characterized
axis
wheel according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
FR0112388A
Other languages
French (fr)
Other versions
FR2829968B1 (en
Inventor
Jean Francois Rebours
Original Assignee
Jean Francois Rebours
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jean Francois Rebours filed Critical Jean Francois Rebours
Priority to FR0112388A priority Critical patent/FR2829968B1/en
Publication of FR2829968A1 publication Critical patent/FR2829968A1/en
Application granted granted Critical
Publication of FR2829968B1 publication Critical patent/FR2829968B1/en
Application status is Expired - Fee Related legal-status Critical
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B9/00Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
    • B60B9/26Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B15/00Wheels or wheel attachments designed for increasing traction
    • B60B15/18Wheels with ground-engaging plate-like shoes
    • B60B15/22Wheels with ground-engaging plate-like shoes connected by links to the hub
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62BHAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00Accessories or details specially adapted for hand carts
    • B62B5/02Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • B62B5/026Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00Purpose of invention
    • B60B2900/10Reduction of
    • B60B2900/131Vibrations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00Type of vehicle
    • B60Y2200/40Special vehicles
    • B60Y2200/47Climbing vehicles, e.g. facade climbing devices
    • B60Y2200/48Stair-climbing vehicles

Abstract

This wheel has a hub (1) and spokes (5) each of which has an outer end (9) directed towards the outside of the wheel and an inner end (6) opposite this outer end. Each spoke (5) is pivotally mounted around an axis (B) located substantially at its inner end (6), this axis (B) being substantially parallel to the axis of rotation (A) of the wheel. This wheel further comprises stops (4) for limiting the clearance of the spokes (5), as well as elastic spokes for returning the spokes (5) to a determined position.

Description

<Desc / Clms Page number 1>

 The present invention relates to a wheel capable of crossing obstacles such as stairs or sidewalks.

 In particular in an urban environment, such obstacles are frequent, so that a wheel capable of crossing them can usefully be installed on a number of devices, such as for example wheelchairs for the disabled, apparatus for cleaning or maintenance, particularly of stairs. , or handling equipment in particular for the use of occasional or professional movers.

 In patent FR-2 709 094 in the name of the present Applicant, there is described such a wheel, which comprises a first and a second stage of half-crowns returned to the intermediate position by elastic members. The first stage crowns are arranged around the wheel hub and pivotally mounted between several parallel discs, rigidly associated with this hub. As for the half-crowns of the second stage, each of them is articulated at a free end of a half-crown of the first stage and carries two prismatic feet, each mounted for rotation at one of its two free ends.

 Although this wheel is fully satisfactory in many respects, the Applicant is constantly imagining new ones with improved performance.

 In particular, the invention aims to reduce the amplitude of the vibrations which are perceived at the level of a device provided with a wheel capable of crossing obstacles such as stair treads, when this device moves on a overall flat surface.

 To this end, the invention relates to a wheel capable of crossing obstacles such as stair treads, characterized in that it comprises a hub and spokes, each of which has an outer end directed towards the outside of the wheel and an inner end to

<Desc / Clms Page number 2>

 the opposite of this outer end, each spoke being mounted tilting about an axis located substantially at its inner end, this axis being substantially parallel to the axis of rotation of the wheel, said wheel having stops to limit the travel of the spokes, as well as of the elastic return members of the spokes in a determined position.

 According to other advantageous characteristics of this wheel: the outer ends of the spokes are connected together by a deformable ring; - The deformable crown comprises an alternation of first and second deformable sections, each mounted between two consecutive spokes, the elastic members being placed to exert a return to the first sections in a substantially circumferential position; - The first and second sections each comprise at least two rigid elements articulated to one another and connecting two successive spokes, on each of which one of these two rigid elements is mounted tilting relative to an axis substantially parallel to the 'axis of rotation of the wheel; - one and the other rigid elements of each first section respectively carry a first and a second other stops intended to cooperate to block the deformation of this first section towards the outside of the wheel; - Each first or second section has a length of between 4 and 12 cm, in particular substantially equal to 8 cm; - Each elastic member is mounted on a second section and tends to bring the two opposite ends of this second section towards one another;

<Desc / Clms Page number 3>

 stops to limit the travel of the spokes are placed between the consecutive spokes connected by the sections of one of the two groups that are the group of the first sections and the group of the second sections, the stops being carried by a member integral with the hub of wheel ; - the deformable crown carries the rolling surface of the wheel; - Each spoke is provided, on the one hand, with means allowing the substantially radial displacement of its first end and, on the other hand, another elastic member, placed to exert a return of this first end towards the outside of wheel ; the means allowing the substantially radial displacement of the first end of one of the spokes comprise an oblong hole placed substantially longitudinally on this spoke and provided for the passage of a pivot integral with the hub and defining the axis of tilting of this same radius, said other elastic member being compressed between the hub and said inner end of this radius; - It comprises two webs integral with the hub, between which are mounted said inner ends of the spokes.

 The invention will be clearly understood on reading the description which follows, given solely by way of example and made with reference to the accompanying drawings, in which: - Figure 1 is a side and schematic view of a conforming wheel to the invention and comprising two side sails; - Figure 2 is a side and schematic view of the wheel shown in Figure 1, from which a veil has been removed;

<Desc / Clms Page number 4>

 - Figure 3 is a top view, schematic and partial, of the wheel of Figures 1 and 2 and shows three successive sections of an articulated crown constituting this wheel, the pads and / or the linings which normally equip these sections being removed, for the sake of clarity; - Figures 4 and 5 are two side and schematic views which illustrate two positions successively taken by the wheel of Figures 1 and 2 in the process of crossing a step, a side veil of this wheel having been removed and - Figure 6 is a view lateral and schematic, in which the wheel of FIGS. 1, 2, 4 and 5 takes a step differently than it does in FIGS. 4 and 5.

 A wheel according to the invention is shown in FIGS. 1 and 2. It is intended to rotate on itself, around an axis of rotation A, and for this purpose comprises a central hub 1, which is intended to be mounted on a shaft not shown or on bearings.

 Two side sails or housings 2, each having the overall shape of a disc, are rigidly associated with the hub 1 and extend away from each other, perpendicular to the axis of rotation A. Spacers 3, regularly distributed around the hub A, are mounted on these sails 2 and connect them together.

Spacer stops 4, which are also regularly distributed around the hub 1 but which are further away from it than the pivots 3, are also mounted between the webs 2. The pivots 3 and / or these stops 4 participate the rigidity of the assembly formed by the hub 1 and the two webs 2.

 Spokes 5 are mounted between these sails 2, each on one of the pivots 3 so as to be able to tilt around

<Desc / Clms Page number 5>

 an axis B substantially parallel to the axis of rotation A. For this purpose, one, referenced 6, of the two ends of each spoke 5 is pierced with an oblong and longitudinal hole 7, crossed by a pivot 3. In this way, each spoke 5, intended to be maintained substantially radially as will be explained below, is capable not only of tilting but also of sliding substantially radially. A helical spring 8 is compressed between the hub 1 and the inner end 6 of each spoke 5 and thus exerts on the latter an elastic return towards the outside of the wheel.

 In particular in the case of a wheel intended for an armchair for the disabled, it is advantageously provided to be able to replace all of the springs 8 with others, so as to be able to adapt the stiffness of these springs 8 to the load intended to be supported by the wheel. As a variant, the wheel may also include means, not shown, for adjusting the average compression ratio of these springs 8.

 The outer ends of the spokes 5 are referenced 9 and connected together by an articulated ring 10. The latter comprises first deformable sections 11 and second deformable sections 12 which alternate in succession, each section 11 or 12 being mounted between two successive spokes 5 .

 As can also be seen in Figure 3 where a section 12 is shown between two sections 11, each section 11 comprises two rigid bars 13, whose cross section is generally T-shaped and which are articulated one to the other. the other, by their adjacent ends, by means of a pivot axis 14 substantially parallel to the axis of rotation A. Each of these two rigid bars 13 is pivotally mounted, by its other end, at the end 9 from one of the two spokes 5

<Desc / Clms Page number 6>

 successive, by means of a pivot axis 15 substantially parallel to the axis of rotation A. Each of the two bars 13 carries one of two substantially radial end surfaces 16, which form stops and are intended to cooperate to block the deformation of the corresponding section 11 towards the outside. In addition, each bar 13 is provided with an outer lining 17 which has the form of a plate made of friction material, which defines the rolling surface of the wheel and which is fixed to the wings of the T.

 Each section 12 comprises two rigid and elongated portions 18 and 19, which are articulated to each other by means of a pivot axis 20 substantially parallel to the axis of rotation A. Each rigid portion 18 or 19 is constituted two parallel links 21 or 22, which are pivotally mounted at the end 9 of a spoke 5, on either side thereof, by means of a pivot axis 15 also used for the mounting a bar 13. The rods 21 of the rigid portions 18 are planar, while those 22 of the rigid portions 19 are bent so that one of the two ends of each rigid portion 19 has a wider wheelbase than the 'other, in order to engage one end of a portion 18.

 A helical spring 23 is threaded on each pivot axis 20 and biased between the portions 18 and 19 associated with the aid of this axis. It tends to bring the two ends of the section 12 brought together by these rigid portions 18 and 19. Also, the joint action of all of the springs 23 mounted on the wheel results in a recall of all of the sections 11 in substantially position circumferential, as well as by returning the spokes 5 to a substantially radial position.

 Each of the rigid portions 18 and 19 is provided with an outer plate 24 made of material

<Desc / Clms Page number 7>

 friction and intended to be engaged in particular on one of the two faces of a step to be crossed.

 The length of the bars 13 and of the rigid portions 18 and 19 is advantageously between 2 and 6 cm and it is preferably substantially equal to 4 cm.

 When the wheel rolls on a generally flat surface, as can be seen in FIGS. 1 and 2, the springs 8 absorb the successive load transfers between the consecutive spokes 5, which sink in turn towards the hub 1. This is results in a reduction in the amplitude of the vibrations perceived at the level of the device, not shown, which is provided with this wheel.

 The reduction in the level of these vibrations is also due to the use of a large number of spokes 5 (sixteen spokes in the example shown), which leads to a reduction in the effects of the discontinuity of the rolling surface of the wheel. To this end in particular, it is obviously possible to fix the number of spokes 5 differently. In particular, an increase in the diameter of the wheel will advantageously be accompanied by an increase in the number of these spokes 5, and vice versa.

 In FIG. 4, the wheel of FIGS. 1 and 2 is about to cross a step by reaching it by a section 11. The latter is pushed back by the edge of the step, towards the hub 1, so that it folds by being articulated around its pivot axis 14, at least one of the two adjoining sections 12 unfolding. At the same time, the two spokes 5 connected by this section 11 tilt tangentially, which allows the latter to properly position itself on the step. At the end of this positioning, the bars 13 of this section 11 are applied one on the upper and horizontal face of the step and the other on the vertical face of this step, by means of the linings. 17 with which they are respectively provided. The

<Desc / Clms Page number 8>

 ability of the ends 9 to move substantially radially towards the hub 1 promotes the establishment, which has just been described, of a section 11, and, in the same way, that of a section 12, in particular when the first contact of the crown 10 with the edge of the step is located in the immediate vicinity of an end 9 of a radius 5.

 The rotation of the wheel around the axis A continuing, the two spokes 5 connected by the section 11 engaged on the step continue to tilt until one of them is stopped by one of the stops 4. At this instant begins the actual climb of the step, during which the wheel of Figures 1 and 2 occupies in particular the position illustrated in Figure 5. The load supported by the wheel is then essentially by the radius 5 in stop.

 Once the step has been climbed, the wheel returns, under the action of the springs 23, to its previous configuration, which is illustrated in FIGS. 1 and 2.

 When the wheel approaches walking by one of its sections 12, its behavior is generally similar to that which has just been described and is easily deduced therefrom.

One of the positions then taken by the wheel is illustrated in FIG. 6, which constitutes the counterpart of FIG. 5: the step causes the section 12 to be folded inwards until the two plates 24 of this section are supported on both sides of the step.

 It follows from the foregoing the following advantage: the wheel of Figures 1 and 2 is able to cross a step regardless of its initial position relative to this step, and whatever the dimensions thereof.

In fact, in all cases, the crown 10 engages the step to be climbed, whether by means of a section 11 or else of a section 12.

<Desc / Clms Page number 9>

 The invention is not limited to the embodiment which has just been described. In particular, the springs 23 can be replaced and / or supplemented by elastic members arranged otherwise, like springs, each of which is stretched between two spokes 5 connected by a section 12.

 In addition, the substantially radial displacement of the ends 9 can be obtained by using telescopic spokes 5, each provided with an elastic return member for its two ends opposite the gap from one another.

 In addition, although the articulated sections 11 and 12 allow a good grip on obstacles to be crossed such as steps or sidewalks, the crown 10 can be replaced by a flexible band or the like, fixed to the ends 9 of the spokes 5.

Claims (12)

1. Wheel capable of crossing obstacles such as stair treads, characterized in that it comprises a hub (1) and spokes (5) each of which has an external end (9) directed towards the outside of the wheel and an inner end (6) opposite this outer end, each spoke (5) being mounted tilting about an axis (B) located substantially at its inner end (6), this axis (B) being substantially parallel to the axis of rotation (A) of the wheel, said wheel comprising stops (4) to limit the clearance of the spokes (5), as well as elastic spokes (23) for returning the spokes (5) in a determined position.
 2. Wheel according to claim 1, characterized in that the outer ends (9) of the spokes (5) are interconnected by a deformable ring (10).
 3. Wheel according to claim 2, characterized in that the deformable crown (10) comprises an alternation of first (11) and second (12) deformable sections, each mounted between two spokes (5) consecutive, the elastic members (23) being placed to exercise a recall of the first sections (11) in a substantially circumferential position.
 4. Wheel according to claim 3, characterized in that the first (11) and second (12) sections each comprise at least two rigid elements (13,21, 22) articulated to one another and connecting two spokes (5 ) successive, on each of which one of these two rigid elements (13, 21, 22) is pivotally mounted relative to an axis substantially parallel to the axis of rotation (A) of the wheel.
 5. Wheel according to claim 4, characterized in that one and the other rigid elements (13) of each first
<Desc / Clms Page number 11>
 section (11) respectively carry a first and a second other stop (16) intended to cooperate to block the deformation of this first section (11) towards the outside of the wheel.
 6. Wheel according to any one of claims 3 to 5, characterized in that each first or second section (11,12) has a length between 4 and 12 cm, in particular substantially equal to 8 cm.
 7. Wheel according to any one of Claims 3 to 6, characterized in that each elastic member (23) is mounted on a second section (12) and tends to bring the two opposite ends of this second (12) section closer together. one towards the other.
 8. Wheel according to any one of claims 3 to 7, characterized in that stops (4) to limit the clearance of the spokes (5) are placed between the spokes (5) consecutive connected by the sections (11,12) of one of the two groups that are the group of first sections (11) and the group of second sections (12), the stops (4) being carried by a member (2) integral with the hub (1) of the wheel.
 9. Wheel according to any one of claims 2 to 8, characterized in that the deformable ring (10) carries the rolling surface of the wheel.
 10. Wheel according to any one of the preceding claims, characterized in that each spoke (5) is provided, on the one hand, with means (7) allowing the substantially radial displacement of its first end (9) and, on the other hand, another elastic member (8), placed to exert a return of this first end (9) towards the outside of the wheel.
 11. Wheel according to claim 10, characterized in that the means allowing the substantially radial displacement of the first end (9) of one of the spokes (5)
<Desc / Clms Page number 12>
 comprise an oblong hole (7) placed substantially longitudinally on this radius (5) and provided for the passage of a pivot (3) integral with the hub (1) and defining the pivot axis (B) of this same radius (5), said other elastic member (8) being compressed between the hub (1) and said inner end (6) of this radius (5).
 12. Wheel according to any one of the preceding claims, characterized in that it comprises two webs (2) integral with the hub (1), between which are mounted said inner ends (6) of the spokes (5).
FR0112388A 2001-09-26 2001-09-26 Wheel capable of crossing obstacles Expired - Fee Related FR2829968B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR0112388A FR2829968B1 (en) 2001-09-26 2001-09-26 Wheel capable of crossing obstacles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0112388A FR2829968B1 (en) 2001-09-26 2001-09-26 Wheel capable of crossing obstacles

Publications (2)

Publication Number Publication Date
FR2829968A1 true FR2829968A1 (en) 2003-03-28
FR2829968B1 FR2829968B1 (en) 2003-12-19

Family

ID=8867631

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0112388A Expired - Fee Related FR2829968B1 (en) 2001-09-26 2001-09-26 Wheel capable of crossing obstacles

Country Status (1)

Country Link
FR (1) FR2829968B1 (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6726231B1 (en) * 2002-11-03 2004-04-27 Richard D. Fuerle Vehicle
WO2008152391A1 (en) 2007-06-13 2008-12-18 Royal College Of Art Spoked wheel
CN101503043B (en) * 2009-03-02 2011-01-12 北京航空航天大学 Swing reducing wheel carrier for diameter-variable wheel
CN101491995B (en) * 2009-03-02 2011-01-12 北京航空航天大学 Elastic helical wheel rack suitable of variable diameter wheel
DE102009052253A1 (en) * 2009-11-06 2011-05-12 Manfred Hoffmann Wheelchair for climbing e.g. spiral stairs, has running surface whose segment lies in direct proximity to step edge such that ends of pressure springs are connected with surface and placed on nearest level during rotation of rear wheels
DE102011052615A1 (en) * 2011-08-11 2013-02-14 Hochschule Regensburg Wheel, particularly stair continuous wheel for vehicle to climb stairs for people with limited mobility, has wheel disk with rolling surface that has variable radius relative to axis, such that rolling surface has two protrusions
CN103448464A (en) * 2013-05-27 2013-12-18 河南省佰腾电子科技有限公司 Foldable tire
DE102012211450A1 (en) * 2012-07-02 2014-01-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Wheel assembly for land vehicle i.e. all-terrain vehicle, has rolling portion provided with multiple rolling elements, which form running surface having cylindrical shape or tooth-like profile shape depending on load
CN105150763A (en) * 2015-09-22 2015-12-16 北京理工大学 Multi-angle wheel for ground robot
WO2017008819A1 (en) * 2015-07-13 2017-01-19 Tebib El Hadi Mechanical device having folding and telescopic teeth for negotiating staircases and for moving over a flat surface
WO2018137746A1 (en) * 2017-01-24 2018-08-02 Tebib El Hadi Wheel with a foldable rim and pivoting vanes for climbing stairs and moving over a flat surface
US10259260B2 (en) * 2015-04-20 2019-04-16 Soongsil University Research Consortium Techno-Park Transformable wheel

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2541195A1 (en) * 1983-02-22 1984-08-24 Ferran Richard Wheel with elastic spokes for the purpose of increasing the adherence of a vehicle on any terrain
JPS63247101A (en) * 1987-04-03 1988-10-13 Yoshikata Rokusha Rotary leg mechanism
FR2709094A1 (en) 1993-08-18 1995-02-24 Rebours Jean Francois Deformable wheel
EP0686513A1 (en) * 1993-03-03 1995-12-13 SAGOV, Magomet Salikhanovich Locomotive assembly for a transport device and transport device provided with such assembly
US5492390A (en) * 1994-04-20 1996-02-20 Nudvuck Enterprises Variable shaped wheel
FR2795947A1 (en) * 1999-07-05 2001-01-12 Alain Limpas Wheelchair has deformable rims on large wheels for overcoming obstacles such as sidewalks or steps

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2541195A1 (en) * 1983-02-22 1984-08-24 Ferran Richard Wheel with elastic spokes for the purpose of increasing the adherence of a vehicle on any terrain
JPS63247101A (en) * 1987-04-03 1988-10-13 Yoshikata Rokusha Rotary leg mechanism
EP0686513A1 (en) * 1993-03-03 1995-12-13 SAGOV, Magomet Salikhanovich Locomotive assembly for a transport device and transport device provided with such assembly
FR2709094A1 (en) 1993-08-18 1995-02-24 Rebours Jean Francois Deformable wheel
US5492390A (en) * 1994-04-20 1996-02-20 Nudvuck Enterprises Variable shaped wheel
FR2795947A1 (en) * 1999-07-05 2001-01-12 Alain Limpas Wheelchair has deformable rims on large wheels for overcoming obstacles such as sidewalks or steps

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 013, no. 036 (M - 790) 26 January 1989 (1989-01-26) *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6726231B1 (en) * 2002-11-03 2004-04-27 Richard D. Fuerle Vehicle
US8371659B2 (en) 2007-06-13 2013-02-12 Royal College Of Art Spoked wheel
WO2008152391A1 (en) 2007-06-13 2008-12-18 Royal College Of Art Spoked wheel
CN101678707B (en) * 2007-06-13 2011-11-30 皇家艺术学院 Spoked wheel
CN101491995B (en) * 2009-03-02 2011-01-12 北京航空航天大学 Elastic helical wheel rack suitable of variable diameter wheel
CN101503043B (en) * 2009-03-02 2011-01-12 北京航空航天大学 Swing reducing wheel carrier for diameter-variable wheel
DE102009052253A1 (en) * 2009-11-06 2011-05-12 Manfred Hoffmann Wheelchair for climbing e.g. spiral stairs, has running surface whose segment lies in direct proximity to step edge such that ends of pressure springs are connected with surface and placed on nearest level during rotation of rear wheels
DE102011052615A1 (en) * 2011-08-11 2013-02-14 Hochschule Regensburg Wheel, particularly stair continuous wheel for vehicle to climb stairs for people with limited mobility, has wheel disk with rolling surface that has variable radius relative to axis, such that rolling surface has two protrusions
DE102012211450A1 (en) * 2012-07-02 2014-01-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Wheel assembly for land vehicle i.e. all-terrain vehicle, has rolling portion provided with multiple rolling elements, which form running surface having cylindrical shape or tooth-like profile shape depending on load
DE102012211450B4 (en) * 2012-07-02 2019-05-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Wheel device for a land vehicle
CN103448464A (en) * 2013-05-27 2013-12-18 河南省佰腾电子科技有限公司 Foldable tire
US10259260B2 (en) * 2015-04-20 2019-04-16 Soongsil University Research Consortium Techno-Park Transformable wheel
WO2017008819A1 (en) * 2015-07-13 2017-01-19 Tebib El Hadi Mechanical device having folding and telescopic teeth for negotiating staircases and for moving over a flat surface
CN105150763A (en) * 2015-09-22 2015-12-16 北京理工大学 Multi-angle wheel for ground robot
CN105150763B (en) * 2015-09-22 2017-10-24 北京理工大学 A kind of many horn rings for ground robot
WO2018137746A1 (en) * 2017-01-24 2018-08-02 Tebib El Hadi Wheel with a foldable rim and pivoting vanes for climbing stairs and moving over a flat surface

Also Published As

Publication number Publication date
FR2829968B1 (en) 2003-12-19

Similar Documents

Publication Publication Date Title
EP3250398B1 (en) Wheel assemblies with non-pneumatic tires
KR101059722B1 (en) compliant wheel
BE1003930A3 (en) Ergonomic seat.
US4577821A (en) Lifting table
US7032634B2 (en) Non-pneumatic resilient tire
AU2008296113B2 (en) Apparatus for converting a wheeled vehicle to a tracked vehicle
EP0488859B1 (en) Device for dumping torsions, for a disck cluch of a automobile vehicle
US4905972A (en) Damped spring
US4177849A (en) Safety wheel
JP2820410B2 (en) Joint for a vehicle
RU2189920C2 (en) System for directing vehicle axle along one track rail
US5573310A (en) Wheel or endless track
FI96479B (en) The rolling chair
US20060060280A1 (en) Non-pneumatic flexible tire
RU2681674C2 (en) Collecting propulsion unit and wheel for ground vehicle
ES2644602T3 (en) Transport chain wheel and deviation chain wheel with improved lifespan
KR20030025936A (en) Spot-type disc brake with fixed caliper
EP0005399A1 (en) Pneumatic safety tyre
JP2006519969A (en) Self-centering type sliding support device
CN1130349A (en) Massaging apparatus
BRPI0419218B1 (en) Mancal and truck adapter for rail wagon
ES2213919T3 (en) Transport mechanism.
AU2011212295B2 (en) Device enabling an electric wheelchair to cross obstacles
US4410210A (en) Retaining grippers
US20100193097A1 (en) Elastic shear band with cylindrical elements

Legal Events

Date Code Title Description
ST Notification of lapse