Mechanum wheel

Abstract

A Mecanum wheel having a circular plate with a plurality of peripheral flanges formed thereon, the flanges having tab portions bent at an angle of less than 90° from said plate; a roller being mounted to and cantilevering off of each of said tab portions such that the axis of rotation of each roller is at corresponding angle of less than 90° from said plate. In some cases, the angles are approximately the same, being approximately 45°. By cantilevering the rollers, more space is available for use by machines using this Mecanum wheel design.

What is claimed is: 
     
         1 . A wheel comprising:
 a circular plate including a plurality of flanges arranged about a periphery of the plate, each of the flanges having an outer tab portion, the tab portions projecting laterally from the flanges at an angle of less than 90° from a plane of the plate, the tab portions defining lateral extensions about the plate's periphery; and   a plurality of rollers, each roller being supported by a corresponding one of the flanges, each roller extending from a corresponding one of the tab portions such that axis of rotation of each roller is at a corresponding angle of less than 90° from the plane of the plate.   
     
     
         2 . The wheel of  claim 1  wherein the plurality of flanges extend axially from the periphery of the plate. 
     
     
         3 . The wheel of  claim 2  wherein the plurality of flanges extend circumferentially about an outer ring of the plate, wherein a gap is defined between each flange and an outer ring of the plate. 
     
     
         4 . The wheel of  claim 3  wherein the gaps are defined between an outer edge of the plate outer ring and inner edges of the plurality of flanges. 
     
     
         5 . The wheel of  claim 1  wherein the plurality of flanges are uniformly spaced about the periphery of the plate. 
     
     
         6 . The wheel of  claim 1  wherein the tab portions are integral to the flanges. 
     
     
         7 . The wheel of  claim 1  wherein the tab portions project laterally from the flanges at an angle of less than 60° from the plane of the plate. 
     
     
         8 . The wheel of  claim 7  wherein the tab portions project laterally from the flanges at an angle of approximately 45° from the plane of the plate, and the corresponding angle of axis of rotation of the rollers is approximately 45°. 
     
     
         9 . The wheel of  claim 1  wherein the rollers are mounted to the tab portions via fasteners. 
     
     
         10 . The wheel of  claim 9  wherein the fasteners comprise bolts passed within the rollers and secured via nuts retained within the rollers. 
     
     
         11 . The wheel of  claim 1  further comprising a further plate having two or more flanges arranged about a periphery of the further plate, the plurality of rollers extending between the circular plate and the further plate, each of the two or more flanges of the further plate supporting a corresponding one of the rollers extending from the circular plate such that the two or more rollers are jointly cantilevered between the circular plate and the further plate. 
     
     
         12 . The wheel of  claim 11  wherein the two or more flanges of the further plate are uniformly distributed over the further plate's periphery. 
     
     
         13 . A mobile device comprising:
 a platform; and   at least four wheels, a first pair of the four wheels correspondingly situated on one side of the platform at front and back regions thereof, a second pair of the four wheels correspondingly situated on an opposing side of the platform at front and back regions thereof, each wheel comprising:   a circular plate including a plurality of flanges arranged about a periphery of the plate, each of the flanges having an outer tab portion, the tab portions projecting laterally from the plane of the plate at an angle of less than 90°; and   a plurality of rollers, each roller being supported by a corresponding one of the flanges, each roller extending from a corresponding one of the tab portions such that axis of rotation of each roller is a corresponding angle of less than 90° from the plane of the plate.   
     
     
         14 . The mobile device of  claim 13  wherein each wheel is situated relative to the platform such that their tab portions project inward toward the platform. 
     
     
         15 . The mobile device of  claim 13  wherein the wheel on the one side of the platform at the front region thereof and the wheel on the opposing side of the platform at the back region thereof comprising a first set of mirrored wheels. 
     
     
         16 . The mobile device of  claim 15  wherein the tab portions of the first set of mirrored wheels project laterally from the flanges at an angle of approximately 45° to the planes of their plates. 
     
     
         17 . The mobile device of  claim 15  wherein the wheel on the opposing side of the platform at the front region thereof and the wheel on the one side of the platform at the back region thereof comprise a second set of mirrored wheels. 
     
     
         18 . The mobile device of  claim 17  wherein the tab portions of the second set of mirrored wheels project laterally from the flanges at an angle of approximately −45° to the planes of their plates. 
     
     
         19 . The mobile device of  claim 17  wherein the tab portions of the first and second sets of mirrored wheels have same angle with respect to the planes of their plates, yet the tab portions of the first and second sets are oriented in opposing directions. 
     
     
         20 . The mobile device of  claim 19  wherein the angle is approximately 45°. 
     
     
         21 . A wheel comprising:
 a circular plate including a plurality of flanges arranged about a periphery of the plate, each of the flanges having an outer tab portion, the tab portions projecting laterally from the flanges at an angle of less than 90° from a plane of the plate, the tab portions defining lateral extensions about the plate's periphery;   a plurality of rollers, each roller being supported by a corresponding one of the flanges, each roller extending from a corresponding one of the tab portions such that axis of rotation of each roller is cantilevered from the plane of the plate; and   a further plate having two or more flanges arranged about a periphery of the further plate, the plurality of rollers extending between the circular plate and the further plate, each of the two or more flanges of the further plate supporting a corresponding one of the rollers extending from the circular plate such that the two or more rollers are jointly cantilevered between the circular plate and the further plate