US 12,145,404 B2
Systems and methods for providing wheels having variable spring rates
Guoming Alex Long, Pittsburgh, PA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Aug. 6, 2020, as Appl. No. 16/986,349.
Claims priority of provisional application 62/884,795, filed on Aug. 9, 2019.
Prior Publication US 2021/0039431 A1, Feb. 11, 2021
Int. Cl. B60B 9/04 (2006.01); B60B 9/26 (2006.01); B60C 7/14 (2006.01)
CPC B60B 9/04 (2013.01) [B60B 9/26 (2013.01); B60C 7/146 (2021.08); B60C 7/14 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A wheel comprising:
an inner hub;
an outer rim; and
a plurality of resilient elements extending in a generally radial direction between the inner hub and the outer rim,
each of the plurality of resilient elements comprising an arcuate portion arranged between a hub connection portion and a rim connection portion, the hub connection portion of each resilient element connecting to the inner hub and the rim connection portion of each resilient element connecting to the outer rim, the hub connection portion and the rim connection portion of each resilient element being radially aligned,
the arcuate portion of each resilient element extending in one of a first circumferential direction and a second circumferential direction, wherein the plurality of resilient elements are arranged in an alternating pattern such that the arcuate portion of each resilient element alternates between extending in the first circumferential direction and the second circumferential direction,
wherein adjacent resilient elements define an elliptical void therebetween, the elliptical void having a major axis that is angled with respect to the generally radial direction of the adjacent resilient elements, and further wherein each apex of the arcuate portions of the adjacent resilient elements alternates from being closer to the outer rim than to the inner hub and closer to the inner hub than the outer rim, such that power is transferred from the inner hub to the outer rim faster when a rotational direction of the inner hub is in the direction of the major axis than when the rotational direction of the inner hub is opposite the direction of the major axis.