OMNIDIRECTIONAL WHEEL ASSEMBLY AND OMNIDIRECTIONAL VEHICLE Russian patent published in 2015 - IPC B62D7/02 B60B19/00 B60G3/02 

FIELD: transport.

SUBSTANCE: set of inventions relates to transport engineering. Omnidirectional wheel assembly for vehicle includes wheel, lower suspended link and upper connecting articulated joint which are attached to vehicle. Vehicle control wheel can rotate around pivotal axis line determined by lower suspended link and upper connecting articulated joint. Pivotal axis line projection on projection vertical plane containing vertical axis passing through tangent point between wheel and road determines angle of deflection from the mentioned vertical axis. The omnidirectional wheel contains regulation mechanisms which can regulate deflection angle in preset range. In the first version, vehicle contains four mentioned omnidirectional wheels. Two of omnidirectional wheels are driving. Each driving omnidirectional wheel contains electric motor which can turn the wheel around axis of rotation by applying driving force to vehicle. Driving omnidirectional wheels are mounted on vehicle so that vertical projection of moment is equal to zero when all omnidirectional wheel assemblies are oriented identically. In the second version, vehicle contains five omnidirectional wheels. Three of the mentioned omnidirectional wheel assembles are driving ones. In the third version, vehicle contains five omnidirectional wheels located on the vehicle so that vertical projection of moment is equal to zero when all omnidirectional wheel assemblies are oriented identically. In the fourth version, vehicle contains five omnidirectional wheels which are driving ones.

EFFECT: higher vehicle stability irrespectively of direction of its motion.

15 cl, 8 dwg