Apparatus and method for braking mecanum wheels
The present invention provides a method and apparatus for braking mecanum or omnidirectional wheels, by applying force to the rollers of a mecanum or omnidirectional wheel to prevent them from rolling when in contact with the ground or the floor. In some embodiments, it engages the rollers with teeth, rods, or wedges to generate friction and prevent them from rotating. The teeth, rods, or wedges rotate with the mecanum or omnidirectional wheel on the same axle, so the force can be applied and the rollers braked whether the wheel is rotating or not. In some embodiments, the force is applied using a servo or motor to push a thrust bearing, which then engages the rollers. In some embodiments, the servo or motor applies force using one or more gear racks, levers, cam wheels, or mechanical linkages.
1 . An apparatus for braking a mecanum or omnidirectional wheel independent of a wheel driveshaft, the apparatus comprising:
a roller braking system to prevent rotation of a plurality of mecanum or omnidirectional rollers, the roller braking system comprising a first plate or frame with rods, teeth or wedges that each insert between two adjacent of the rollers from a first side of the rollers when the roller braking system is engaged and a second plate or frame with rods, teeth, or wedges that each insert between two adjacent of the rollers from a second side of the rollers when the roller braking system is engaged, and
an activation system comprising
at least one servo or powered mechanism, independent of the wheel driveshaft, to engage the roller braking system.
2 . The apparatus of claim 1 , wherein the roller braking system comprises individual rods, teeth, or wedges that each insert between the rollers and a bracket that holds a neighboring roller.
3 . The apparatus of claim 1 , wherein the roller braking system has one or more springs to passively disengage the roller braking system from the rollers, when the roller braking system is not activated.
4 . The apparatus of claim 1 , wherein the roller braking system is attached to the wheel with one or more tension springs, and the activation system prevents engagement of the roller braking system until desired.
5 . The apparatus of claim 1 , wherein the activation system uses at least one thrust bearing to press against the roller braking system to engage the rollers.
6 . The apparatus of claim 5 , wherein the one or more thrust bearings is kept centered on the driveshaft by means of a rotational bearing within which the driveshaft spins.
7 . The apparatus of claim 5 , wherein the thrust bearing is mounted on the roller braking system, with retaining clips to hold the thrust bearing in place but allow free rotation.
8 . The apparatus of claim 5 , wherein the thrust bearing is mounted on the activation system, with retaining clips to hold the thrust bearing in place but allow free rotation.
9 . The apparatus of claim 1 , wherein the activation system transmits force from the at least one motor or servo to the at least one thrust bearing.
10 . The apparatus of claim 1 , wherein one or more gear racks are mounted parallel to the drive shaft, and one or more pinion gears powered by the activation system apply force to the thrust bearing via the one or more gear racks.
11 . The apparatus of claim 1 , wherein one or more levers powered by the activation system apply force to the one or more thrust bearings.
12 . The apparatus of claim 1 , wherein one or more cam wheels powered by the activation system apply force to the one or more thrust bearings.
13 . The apparatus of claim 1 , wherein one or more mechanical linkages powered by the activation system apply force to the one or more thrust bearings.
14 . The apparatus of claim 1 , wherein one or more slides connect the chassis of a robot, wheelchair, or platform to the one or more thrust bearings, keeping the thrust bearings and the linkages in the same orientation to a chassis even as the activation system applies the force.
15 . The apparatus of claim 1 , wherein the plurality of rollers comprising two groups of rollers offset from each other.
16 . The apparatus of claim 1 , wherein the rods, teeth, or wedges are curved or flat.
17 . The apparatus of claim 1 , wherein one or more gear racks are mounted parallel to the drive shaft, and one or more worm gears powered by the activation system apply force to the thrust bearing via the one or more gear racks.
18 . The apparatus of claim 1 , wherein the activation system applies force to one or more mechanical linkages that transfer the force to the thrust bearing.
19 . An apparatus for a braking mecanum or omnidirectional wheel independent of a wheel driveshaft, the apparatus comprising:
a roller braking system to prevent rotation of a plurality of mecanum or omnidirectional rollers, when the roller braking system is engaging, and
an activation system comprising
a servo or powered mechanism, independent of the wheel driveshaft, to engage the roller braking system, wherein the roller braking system comprises individual rods, teeth, or wedges that insert between each adjacent ones of the rollers by being pushed outward from a central hub of the mecanum or omnidirectional wheel to a location between the adjacent rollers.