US 9,809,056 B1
Roller assemblies for a holonomic base
Justine Rembisz, San Francisco, CA (US); and Christopher Lynn Morey, Oakland, CA (US)
Assigned to X DEVELOPMENT LLC, Mountain View, CA (US)
Filed by X Development LLC, Mountain View, CA (US)
Filed on Nov. 26, 2015, as Appl. No. 14/952,970.
Int. Cl. B60B 19/00 (2006.01); B60B 19/12 (2006.01); B60B 19/14 (2006.01)
CPC B60B 19/003 (2013.01) [B60B 19/12 (2013.01); B60B 19/14 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus for a holonomic base, comprising:
a drive shaft comprising a first longitudinal end, a second longitudinal end, and a drive shaft rotational axis extending between the first longitudinal end and the second longitudinal end;
a first roller assembly and a second roller assembly each comprising three roller segments each coupled to the drive shaft, the three roller segments of the first roller assembly and the three roller segments of the second roller assembly each comprising an exposed exterior spherical zone;
wherein the spherical zone of each of the roller segments comprises a base and an opposite top, wherein the base has a base circumference that is larger than any top circumference of the top, and wherein the base is more proximal to the drive shaft than the top;
wherein each of the three roller segments of the first roller assembly rotates freely about a corresponding one of three roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the first roller assembly;
wherein the three roller segment rotational axes are spaced approximately one-hundred-twenty degrees apart from one another relative to the drive shaft rotational axis;
wherein each of the three roller segments of the second roller assembly rotates freely about a corresponding one of three additional roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the second roller assembly;
wherein the three additional roller segment rotational axes are spaced approximately one-hundred-twenty degrees apart from one another relative to the drive shaft rotational axis; and
wherein the roller segments of the first roller assembly and the roller segments of the second roller assembly are in fixed relation to one another relative to the drive shaft rotational axis.