Expandable wheel
An expandable wheel has rollers arranged radially about a plate within a main housing. Spokes pivotally connected to the plate are attached to linkages on which the rollers are mounted. The rollers and linkages protrude through apertures in the main housing. The rollers form the circumference of the wheel. Rotation of the plate relative to the main housing changes the angle of the spokes relative to radii of the plate. When the spokes are parallel with the radii of the plate, the rollers are pushed radially outward at a maximum distance from the plate, forming the largest wheel circumference. When the spokes are as near perpendicular as possible with respect to the radii of the plate, the rollers are pulled radially inward at a minimum distance from the plate, forming the smallest wheel circumference.
1. An expandable wheel comprised of:
a main housing with a series of apertures disposed radially thereabout;
a plate disposed within a cavity of the main housing;
a set of spokes distributed radially around the plate and attached thereto at a first end, each spoke positioned within one of the series of apertures in the main housing;
a set of linkages distributed radially around the plate and attached to a second end of the spokes, the linkages positioned within the apertures;
a set of rollers distributed radially around the plate and mounted on the linkages;
wherein the spokes, linkages and rollers can be moved from a first, contracted position in which the spokes, linkages, and rollers are pulled by the spokes towards the main housing, to a second, expanded position, in which the spokes, linkages, and rollers are pushed outward from the main housing by clockwise or counter clockwise rotation of the plate relative to the main housing.
2. The expandable wheel of claim 1 wherein the rollers are positioned with an axis of rotation at approximately 45 degrees to a plane of the wheel and at approximately 45 degrees to a line through a center of the roller parallel to an axis of rotation of the wheel.
3. The expandable wheel of claim 1 wherein a sleeve is provided around each aperature.
4. The expandable wheel of claim 1 wherein the expandable wheel has between 10 and 20 apertures, spokes, linkages, and rollers.
5. A wheel with an expandable circumference comprising:
a main housing with a series of apertures disposed radially thereabout;
a plate disposed within a cavity of the main housing;
a set of spokes distributed radially around the plate and attached thereto at a first end, each spoke positioned within one of the series of apertures in the main housing;
a set of linkages distributed radially around the plate and attached to a second end of the spokes, the linkages positioned within the apertures;
a set of rollers distributed radially around the plate mounted on the linkages, the rollers forming a circumference of the wheel;
wherein the spokes, linkages and rollers can be moved from a first, contracted position in which the spokes are as close to perpendicular as can be accommodated with respect to a radius of the plate and the linkages and rollers are pulled by the spokes to a minimum distance from the plate, to a second, expanded position, in which the spokes are substantially parallel to a radius of the plate and the linkages and rollers are pushed to a maximum distance from the plate by clockwise or counter clockwise rotation of the plate relative to the main housing.
6. The wheel of claim 5 wherein the rollers are positioned with an axis of rotation at approximately 45 degrees to a plane of the wheel and at approximately 45 degrees to a line through a center of the roller parallel to an axis of rotation of the wheel.
7. The wheel of claim 5 wherein a sleeve is provided around each aperture.
8. The wheel of claim 5 wherein the wheel has between 10 and 20 apertures, spokes, linkages, and rollers.