Patent Grant
9463393
The present invention relates to mechanical devices that have a shifting of a center of gravity based on oscillatory or vibrational motion.
One example of vibration driven movement for a mechanical device is the employment of an internal power source and a vibrating mechanism located in or on the mechanical device. The creation of the movement-inducing vibration is to use rotational motors that spin a shaft attached to an eccentric weight. The rotation of the counterweight induces oscillatory forces. Power sources include wind up springs that are manually powered or DC electric motors. The most recent trend is to use pager motors designed to vibrate a pager or cell phone in silent mode. Well known examples include Vibrobots and Bristlebots, both are small mechanical devices that use vibration to induce movement. The mechanical devices would include legs, generally metal wires or stiff plastic bristles. The vibration causes the entire device to vibrate up and down as well as turn in a single direction and therefore drive in a circle. These mechanical devices tend to drift and turn because no significant directional control is achieved.
Beyond the more widely aforementioned vibration driven mechanical devices there are other devices that could utilize an oscillatory motion to mimic a more dynamic form of movement and which would better correspond to its real-life representation. For example, a snake may be one of the most complex animals to mimic movements in a manner that makes the mechanical device life-like. This may be due to the fact that a snake exhibits four different types of movements, Serpentine, Sidewinding, Rectilinear locomotion, and Concertina.
Serpentine—or an S-shape movement, also known as undulatory locomotion, is used by most snakes on land and in water. Starting at the neck, a snake contracts its muscles, thrusting its body from side to side, creating a series of curves. Sidewinding—by contracting their muscles and flinging their bodies, sidewinders create an S-shape that only has two points of contact with the ground; when they push off, they move laterally. Much of a sidewinding snake's body is off the ground while it moves. Rectilinear locomotion—this technique contracts the body into curves, but these waves are much smaller and curve up and down rather than side to side. When a snake uses rectilinear locomotion, the tops of each curve are lifted above the ground as the ventral scales on the bottoms push against the ground, creating a rippling effect similar to how a caterpillar looks when it walks. Lastly, Concertina—the previous methods work well for horizontal surfaces, but snakes climb using the concertina technique. The snake extends its head and the front of its body along the vertical surface and then finds a place to grip with its ventral scales. To get a good hold, it bunches up the middle of its body into tight curves that grip the surface while it pulls its back end up; it then springs forward again to find a new place to grip with its scales.
To mimic a snake's horizontal movement, mechanical devices need to create the appearance of the life-like Serpentine, Sidewinding, and Rectilinear locomotion. While other mechanical devices have attempted to create mechanical snakes, they typically employ very complex mechanical linkages, gear trains, wheels and multiple motors. There therefore exists a needs to simplify the components while maintaining a high-degree of life like movement.
In one embodiment of the present invention there is provided a mechanical device having a plurality of segments interconnected consecutively at pivots formed between two adjacent segments. The plurality of segments further define at least a front section and a rear section, wherein a section can include one or more segments. A rotational motor and an eccentric weight are secured about one of the segments. At least one pair of legs extend from one of the segments towards a contact surface, defining a first leg segment, and the legs are configured to cause the first leg segment to move in a direction as the rotation motor rotates the eccentric weight. The movement of the first leg segment acts to pull or push the other interconnected segments therewith.
Other aspects of various embodiments include the first pair of legs and the rotational motor with the eccentric weight being positioned about the same segment. This particular segment with the first pair of legs and rotational motor/eccentric weight may also be the front segment. With respect to the front segment having a first pair of legs, in another embodiment, another pair of legs can be provided in the front segment, such that the legs form rows of legs extending about either side of the front segment.
In yet other embodiments, the mechanical device further includes at least a second pair of legs extending from another segment towards a contact surface, and defines a second leg segment. The second leg segment and the first leg segment would be interconnected to one another by including at least one other segment interconnected therebetween.
The mechanical device may also include a power source and a switch. The switch interconnecting the power source to the rotational motor for selectively providing power to activate and deactivate the power source. In one aspect, the power source can be positioned in a segment, defining a power source segment. And the switch can be positioned in a separate segment, defining a switch segment. The power source segment can then be interconnected along the plurality of segments between the first leg segment and the second leg segment. In addition, the switch segment can be interconnected along the plurality of segments between the power source segment and the second leg segment. In yet other embodiments the switch and/or the power source can be combined into one segment. The switch and/or power source could also be combined with the segment containing the motor.
As further defined in various embodiments, the mechanical device may include a head segment, a tail segment, a middle leg segment, and a set of forward segments between the head and middle leg segments and a set of rearward segments between the middle leg segment and the tail segment. Legs may be provided in or near the head segment and at the middle leg segment; with a rotational motor and eccentric weight positioned at or near the head segment. The front set of legs may or may not be positioned in the same segment as the rotational motor and eccentric weight.
In essence, one or more of the embodiments presented herein provides for a rotational motor to generate forces to move a first leg segment along a surface and a forward and rearward set of segments, separated by a second leg segment, are configured to freely pivot about pivot points allowing an undulation of a center of gravity of the mechanical device thereby oscillating the segments to create an appearance of a serpentine motion.
Numerous other advantages and features of the invention will become readily apparent from the following detailed description of the invention and the embodiments thereof, from the claims, and from the accompanying drawings.
A fuller understanding of the foregoing may be had by reference to the accompanying drawings, wherein:
While the invention is susceptible to embodiments in many different forms, there are shown in the drawings and will be described in detail herein the preferred embodiments of the present invention. It should be understood, however, that the present disclosure is to be considered an exemplification of the principles of the invention and is not intended to limit the spirit or scope of the invention and/or claims of the embodiments illustrated.
Referring now to
In general, the mechanical device 100 includes a segmented body, that defines a front section 112, a rear section 114, and intermediate sections 116 positioned between the front and rear sections. Each section can include one or more segments 110. The mechanical device further includes multiple legs 118 and a vibrating mechanism. The vibrating mechanism can be either a motor or spring-loaded mechanical winding mechanism, either of which would rotating an eccentric weight, a motor or other mechanism adapted to induce oscillation of a counterweight, or other arrangement of components adapted to rapidly alter the center of mass of at least a portion of the mechanical device). As a result, the mechanical device 100, when in motion, resembles a snake, worm, or other similar type animals or insects.
Movement of the mechanical device 100 can be induced by the motion of the rotational motor inside of, or attached to, the device 100, in combination with a rotating eccentric weight with a center of mass that is offset relative to the rotational axis of the motor. The rotational movement of the weight causes the motor and at least a portion of the mechanical device to which it is attached to vibrate. In some implementations, the rotation is approximately in the range of 6000-9000 revolutions per minute (rpm's), although higher or lower rpm values can be used. As an example, the device can use the type of vibration mechanism that exists in many pagers and cell phones that, when in vibrate mode, cause the pager or cell phone to vibrate. The vibration induced by the vibration mechanism can cause the device to move across the surface (e.g., the floor) using legs that are configured to alternatively flex (in a particular direction) and return to the original position as the vibration causes the device to move up and down.
Various features can be incorporated into the mechanical device. For example, U.S. patent application Ser. No. 12/860,696, entitled “Vibration Powered Vehicle”, filed Aug. 20, 2010, which is incorporated herein by reference in its entirety, discusses in greater detail different features and their effect on other mechanical devices but which can be employed in the current application as well. Some of which include the implementation of mechanical device features for facilitating efficient transfer of vibration to forward motion, such as the shape of the legs, number of legs, frictional characteristics of the leg tips, relative stiffness or flexibility of the legs, resiliency of the legs, relative location of the rotating counterweight with respect to the legs, etc. In addition, the speed and direction of the mechanical device's movement can depend on many factors, including the rotational speed of the motor, the size of the offset weight attached to the motor, the power supply, the leg characteristics (e.g., size, orientation, shape, material, resiliency, frictional characteristics, etc.) and their attachment to the housing of the device, the properties of the surface on which the device operates, the overall weight of the device, and so on.
These and other embodiments can each optionally include one or more of the following features. The apparatus includes fewer than twenty legs that contact a support surface as the at least one diving leg causes the apparatus to move. The legs are tapered. A diameter of each driving leg is at least 5% of the length of the leg. The legs are curved. The legs are constructed from an elastomeric material. The flexible material includes rubber. The flexible material includes an elastomer. The at least one driving leg is configured to cause the apparatus to repeatedly hop as the rotational motor rotates the accentric load. The at least one driving leg is curved between the leg based and the leg tip. The eccentric load is configured to be located toward a front end of the apparatus relative to the driving legs, wherein the front end of the apparatus is defined by an end in the direction of movement. The repeated hopping causes the apparatus to move in the direction generally defined by an offset between the leg based and the leg tip. The legs include at least two legs adapted to cause the apparatus to move. The at least one driving leg includes a durometer in the range of approximately 55-75, based on the Shore A scale. The eccentric load includes an inertial load adapted, when the eccentric load is rotated by the rotational motor, to cause the at least one driving leg to hop off a flat support surface. The at least one driving leg is constructed from polystyrene-butadiene-styrene. The at least one driving leg has a ratio of a leg length to a leg diameter in the range of 2.0 to 10.0. The thickness of the legs is defined by a diameter of approximately 5.25 times less than the length of the leg. A curvature of the legs is adapted to enhance a tendency of the apparatus to move in the direction generally defined by the offset between the leg base and the leg tip. The curvature of the legs in combination with a resiliency of the legs are adapted to allow the legs to maintain an approximately neutral position when the rotational motor is not rotating the eccentric load and to bend in a direction of the curvature when a rotational movement of the eccentric load introduces a downward force on the apparatus. The neutral position is defined by a shape of the legs when not supporting a load. A relative stiffness of at least two specific legs of the plurality of legs is configured to alter a tendency of the apparatus to turn.
Referring to
Referring now to
The head assembly 140 includes a rotational motor 146 driving an eccentric weight 148 with a center of mass that is offset relative to the rotational axis 150 of the motor 146. At least one leg 152 is positioned to extend away from the head assembly below an underside exterior 154 of the bottom section 144. The at least one leg 152 may be secured to the underside exterior 154, to the side of the head assembly 140, to an interior portion of the head assembly, or within the head assembly. The head assembly can further include a tip 151 or nose portion defined along the perimeter of a front of the head assembly. When moving the tip 151 is provided to help deflect the head assembly when the snake encounters an obstacle. If the mechanical device hits an object the head assembly, being secured to the other segments 110 by a free pivot (discussed in greater detail below), the head assembly driving in a forward motion by the rotational motor will have a tendency to turn or deflect to one side. This in turn will cause the mechanical device to begin to turn away from or move around the object. In some instances the mechanical device will appear to curve around the object while in other instances the mechanical device will appear to turn away from the object altogether and move in a completely new direction.
In another embodiment, the at least one leg 152 may include a pair of legs extending from either side of the rotational motor 146. Each pair of legs may be attached to a saddle 156. The saddle 156 secures each pair of legs 152 to a saddle base 158. The two saddle bases 158 are attached to one another by one or more supports 160. The supports 160 may be arched such that the saddle 156 can be positioned over the motor 146. The legs 152 would then extend through separate openings or a slotted opening 162 in the bottom section 144.
The segments, including the front segment 112, are each freely pivotally connected to each other, such that no further linkages, gears, or other mechanical components are provided between the segments, with the exception of electrical wires as necessary. This is more easily shown in
Along with the front segment 112 used to house the motor 146, eccentric weight 148, and the at least one front leg 152, other segments are provided to specifically house other components. For example, a power source segment 170 is used to house a power source, such as batteries. The power source segment 170 would most likely include a door 172 that the user can open and secure closed to have easy access to the batteries or other power source. If the power source is a set of rechargeable batteries, then the door 172 can be an access port allowing the user to plug the mechanical device into an outlet or other type of recharging station. In addition, an on/off switch segment 180 can be employed to house a toggle switch 182 that a user can switch the power to the motor on and off.
Referring now to
Referring also to
However, it can easily been well within the scope of the invention to provide a pair of legs attached to a saddle and positioned within the segmented portion 200 with the legs extending through one or more slots on the bottom housing section 130. In addition, the legs could be secured to apertures or openings that permit the legs to be adjustable either laterally or rotationally.
As also illustrated throughout the figures, the rear segment 114 may have a tapered exterior surface 210 to provide the appearance of a tail or end of the snake or worm. Furthermore, as opposed to being the last segmented portion, the rear segment 114 may refer to being a rear section that includes one or more segments positioned towards the aft of the mechanical device. As such the tapered exterior surface 210 may appear in more then one segment. Along a similar process, the front segment 112 may infer to more then one beginning segment, such that a head and maybe a neck segment are included in the reference to a front section of segments.
There are numerous variations that can be employed with the present embodiments. First, a plurality of legs can be further added, for example one or more legs can be added to each segmented portion. The legs could also be facing various directions which may be set during manufacturing or adjustable by the user. In addition, the rotational motor could be moved from the front segmented section to an intermediate segmented section or even the rear segmented section. As such the rotational motor is moved such that the forward movement of the mechanical device is changed from a pulling motion to a pushing motion. However, minimizing the number of legs and placing the motor to the front was found to be one embodiment that provided movement that resembled a snake.
In another embodiment, the mechanical device may include a front segment with a pivot and that moves from one side to another. The head can oscillate side to side by nature of the orientation of the counterweight and the motor, such that the motors rotation axis is parallel to the forward direction of the snake, resulting in up and down forces that provide forward motion, and side to side forces that will make the forward movement vary from straight ahead. The side to side oscillation can also be enhanced by controlling the direction of the motor with electronics. The electronics would switch the rotational motor from rotating the eccentric weight in a first rotational direction to a counter rotational direction. The switching of the rotational direction of the eccentric weight can cause the front segment to turn more than running the motor in one direction. Alternating the rotational would allow the mechanical device to turn the front segment from one side and then the other side. Oscillating the front segment back and forth can invoke a rearward oscillation through the mechanical device and provide for a snake like undulatory locomotion.
As further illustrated in
There are numerous variations of movement can be employed with the present embodiments. One possible movement of the mechanical device can be illustrated and discussed with reference to
In some embodiments it has been noted, that by not having enough segments between the legs in the front segment and the leg intermediate segment, the mechanical device does not exhibit enough instability to obtain an oscillation on its own. In addition, having too many segments causes the mechanical device to become too unstable during movement that the mechanical device tends to fall over when it begins to curl to one side. As such a proper amount of segments allows the mechanical device to maintain its balance during movement and turning.
In another embodiment of the present invention there is provided a mechanical device that includes a body defined by a head, a tail, and an intermediate body portion between the head and tail. Legs are provided about the head and intermediate body portion. Interposed between the head and intermediate body segment is defined a forward body section, while a rearward body section is defined as interposed between the intermediate body segment and the tail segment. The body may be a single formed body having a flexible exterior or having flexibility defined therein. For example purposes only, the body may be a single contiguous piece of material, such as a plastic or wooden body with curved or grooved notches between portions that permit flexibility there-between. In another aspect the body may be made from segments with pivotal junctions positioned between two interconnecting segments.
The mechanical device further includes a rotational motor and an eccentric weight secured about a portion of the body, and wherein the rotational motor is adapted to rotate the eccentric weight such that vibrational forces are directed through the body. In some aspects the rotational motor and eccentric weight could be positioned forwardly along the body in front of or behind the legs positioned in the head and configured to drive or pull the body in a direction, or positioned rearwardly along the body and configured to push the body in a direction.
As noted legs, such as a first pair of legs are provided about the head and extend towards a contact surface. The first pair of legs are configured to cause the body to move in a direction defined as the rotational motor rotates the eccentric weight. As illustrated the eccentric weight may be in front of the legs or right behind the first pair of legs. For reference purposes this can define a first leg segment. In addition, a second pair of legs are provided and extend from the intermediate section towards a contact surface, defining a second leg segment.
Continuing to refer to
As noted in other embodiments, the sections may be made from one or more segments or may be a single body formed into sections that may pivot or move between sections. Reference to a right side and left side is in reference to the mechanical device's point of view.
The lengths and proportions of the first interposed section 310 and tail section 325 may be important aspects to help define the proper weight distribution that causes instability.
As illustrated in one single embodiment of the present invention
The forward motion of the mechanical device is caused by vibration of the head acting on the legs attached to the head. The middle legs vibrate slightly and are able provide forward forces in some instances. However since the driving force of the front legs is much greater, generally the middle legs create a slight drag on the motion in varying degrees. The key aspects of how the mechanical device achieves serpentine-like motion is in the coupling of the oscillating vibration induced driving forces along with the shifting mass of the segments in the intermediate section and tail section.
The positions described below are generalized into a starting position, four common shapes and two uncommon shapes. They are generalized to simplify the discussion since there are an infinite number of shapes as the segments of the mechanical device move. Due to generalizing, each position shown and described actually covers many minor variations as the mechanical device transitions between the positions described. The forces discussed will change and vary continuously due to the wide variety of changing internal and external forces. Therefore, these positions and descriptions are only one possible mode of obtaining a serpentine like motion. Varying the quantity and design of the legs and segments of the snake can change the motion into an infinite number of other possibilities.
Position-A—If the mechanical device starts in position-A, the vertical vibration forces create strong linear forces 345 on the front legs 330 and in a propelling direction and light linear forces 350 on the middle legs 332 in a dragging direction. The horizontal vibration forces will cause the head 305 to vary its direction side to side and the tail 325 will eventually whip to one side or the other as it begins to compensate for the veering.
Position-B—When the tail 325 whips to the right side, the mechanical device is in a reverse “J” shape as shown in position-B. When the mechanical device is in this reverse “J” shape, the center of gravity 355 of the tail 325 shifts to the side to which the tail has shifted. As illustrated in the Position-B diagram, the center of gravity 355 of the tail has shifted to the right side and causes a greater downward force on the legs on the right side; as such the linear forces 345/350 are greater on the right side then the left side. A greater downward force on the head's right side leg when compared to the head's left side leg causes the right side leg to have more forward driving force than the left side leg. The greater driving force from the head's right side leg causes the head 305 to turn to the left (beginning of Position-C). In Position-B, the head's forward driving movement is pulling on the middle leg segment 320, which has greater drag on the right side, causing the middle leg segment 320 to twist clockwise 360.
Position-C—As illustrated in Position-C, the mechanical device starts to curve to the left into an “S” shape. In Position-C, the head's forward driving movement is pulling on the middle leg segment, which has greater drag on the right side, causing the middle leg segment to twist clockwise 360. The center of gravity 365 for the interposed section 310 has shifted to the left side. The tail 325 is angled towards the right side and begins to twist in a clockwise direction 370. The tail center of gravity 355 and interposed section center of gravity 365 causes the overall center of gravity to shift closer to center such that the head 305 is driving straight ahead and trying to straighten out the rest of the segments. The angular twist of the middle leg segment causes the tail to whip to the left side of the snake putting back into a “J” shape as shown in the Position-D diagram.
Position-D—Position-D diagram is a mirror of the Position-B diagram.
Position-E—Position-E diagram is a mirror of the Position-C diagram.
The mechanical device can oscillate between these various positions in a repeating BCDE-BCDE pattern.
Positions X and Y—The amount of tail whip will vary and, in many cases, the amount of angular momentum is great enough to cause the mechanical device to oscillate into an uncommon “C” shape as shown in Positions X and Y. Once in Position X or Y, the forces are fairly balanced on the head and cause the intermediate section to want to straighten out into the “J” shape and thus resume the oscillatory motion.
Obstructions—When the mechanical device runs into an obstruction, the horizontal vibration forces will cause it to steer to one side or another. In cases where the head's forward progress is obstructed long enough, the middle legs slight forward driving force will force the body to twist into a “C” or “S” shape and help the head to steer to one side around the obstruction or out of a corner.
In various embodiment the mechanical device may include a first or front leg segment that is further configured to move the mechanical device in varying directions as the rotational motor generates vibrational forces causing a continuously oscillating shape of the body of the mechanical device.
Other embodiments may have include a body that is configured to move the front and intermediate leg segments in varying directions as the rotational motor generates vibrational forces, causing a continuously oscillating shape of the plurality of segments.
In yet further embodiments, the plurality of segments may be configured to vary the direction of the first and second leg segments as the rotational motor generates vibrational forces, wherein the varying directions of the first and second leg segments causes two or more segments of the body to oscillate from side to side.
In yet other aspects of various embodiments, the first pair of legs is further configured to move the first leg segment in an oscillating direction as the rotational motor generates vibrational forces, and the movement of the first leg segment in the oscillating direction from one direction to another direction generates forces sufficient to change a position of one or more of the interconnected plurality of segments from one side to an other side of the mechanical device, and wherein the changing position of one or more of the interconnected plurality of segments from one side to the other side of the mechanical device further generates forces on the first and second leg segments to change the direction of the first and second leg segments from one direction to another direction, causing a continuously oscillating shape of the plurality of segments.
In yet other aspects of various embodiments, the movement of the center of gravity of the intermediate and tail sections may not be enough force to steer the leg segments and create the serpentine movement. In yet other aspects of various embodiments, the variations in the shapes of the device may not achieve enough variation to appear lifelike. In both of these cases, changes to the movement can be achieved by adding fixed weights inside various segments. Alternately, changes to the movement can be achieved by adding weights inside various segments that are designed to move inside the segment from side to side. These moving weights serve to move the center of gravity of the segment more or less, depending on the position of the weight. Additionally, the shape of the structure below the weight can be shaped in a flat, concave, or convex way, such that the weights movement is altered due to the effects of gravity.
In yet other aspects of various embodiments, the forward driving force of the front legs may need to be increased or decreased, in order to change the balance of forces and to achieve the desired shapes. The forward forces can be changing the durometer, diameter, length, and shape of the legs. Additionally, the amount of drag provided by the intermediate legs may need to be increased or reduced in order to alter the steering of the intermediate segment. The drag can be changed by changing the material of the intermediate legs to one that has higher or lower coefficient of friction with the surface.
From the foregoing and as mentioned above, it is observed that numerous variations and modifications may be effected without departing from the spirit and scope of the novel concept of the invention. It is to be understood that no limitation with respect to the embodiments illustrated herein is intended or should be inferred. It is intended to cover, by the appended claims, all such modifications within the scope of the appended claims.
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