• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device having a base body and at least two suspension elements, wherein each suspension element has at least one leg with at least one wheel at the end remote from the base body, wherein a jumping movement is executed by the device and to the chassis elements are pivotable about a respective pivot axis. The object of the invention is to provide a device which is less prone to tipping and easier to bring back independently in their use position. This is inventively achieved in that the pivot axes are close to the center of gravity of the body.
    公开号:AT519987A4
    申请号:T50783/2017
    申请日:2017-09-18
    公开日:2018-12-15
    发明作者:Dipl Ing Eugen Svoboda Meng
    申请人:Dipl Ing Eugen Svoboda Meng；
    IPC主号:
    专利说明:

    The invention relates to a device with a base body and at least two
    Chassis elements, each chassis element having at least one leg with at least one wheel at the end remote from the base body, wherein a jumping movement is executed by the device and to the chassis elements are each pivotable about at least one pivot axis.
    On the one hand, such devices are used on uneven terrain, as bumps and obstacles can be better overcome.
    On the other hand, hopping through relatively small devices can achieve a higher observation point, providing a better overview for research purposes, for example when used on the moon. Also for entertainment purposes, these devices can be used.
    This type of device is known for example from CN 102490911 A.
    In this case, a machine is shown whose legs are moved by means of a stepper motor. The machine can move rolling, with the wheels with
    Hub motor can be driven and she can move hopping.
    To jump, the legs are folded and unfolded. A disadvantage of this
    Execution is that this machine easily tips over in the case of an unfavorable landing and can not return to its intended use on its own.
    From CN 102009706 A is a jump mechanism for an application on the
    Earth known in which are pivoted about a motor legs against the force of a spring about an axis spaced from the base axis. By the sudden relaxation of the spring, a horizontal hopping movement can be realized, a horizontal and vertical movement is not possible. By arranged between the legs spring, this device is not suitable for use on uneven terrain, since the jump mechanism with this geometry is not directed and precisely controlled. That's different
    Ground conditions relevant to be able to jump exactly aligned. Furthermore, this device can tilt easily and it is also unable to get back into their own use situation.
    Object of the present invention is to provide a device that their
    Use situation harder leaves and easily re-enters this independently.
    This object is achieved by an initially mentioned device according to the invention in that the pivot axes close to the center of gravity of the
    Base body lie. Due to the favorable position of the pivot axes is a higher
    Range of motion during the jump possible, therefore, the legs, similar to a cat can be pivoted so that an unfavorable impact can be prevented. Tipping over or falling over after the impact can thus be largely prevented by movement in the jump. Furthermore, the tendency to tilt with a small number of legs is reduced and fewer joints are needed to reach the full range of motion. This is advantageous because a higher number of joints makes the device more sensitive to dust, especially moon dust.
    The device according to the invention is intended for non-terrestrial use, such as on the moon.
    In order to further reduce the inclination of the device, it is favorable if the pivot axes are arranged at a normal distance to the center of gravity, which is smaller than four-fifths of the root of the ratio of the
    Mass moment of inertia of the body about an axis through the center of gravity parallel to the pivot axis of the body to the mass, and preferably less than half the root of this ratio, and more preferably less than a quarter of the root of this ratio.
    To ensure the freedom of movement of the legs, it is beneficial if the
    Legs are arranged laterally on the base body.
    A particularly simple embodiment results when the pivot axes are parallel. These pivot axes may be in a horizontal or vertical plane, or in a generally oriented plane.
    In order to make it possible to set it up after overturning, it is advantageous if a maximum swivel angle of the chassis elements is greater than 180 ° and is preferably greater than 270 °.
    If the pivot axes are coaxial, an even higher mobility can be achieved. As a result, a swivel angle over 360 ° is possible.
    As a protection of the body from impact and to prevent a stable position after an impact in the wrong position, a particular embodiment provides that the body has a cage which is substantially spherical. This includes a cylindrical, cambered cage. This cage may be integrated into the body, or "slipped over" the body.
    It is advantageous if a suspension element has two legs connected to one another and preferably both suspension elements have two legs connected to one another. As a result, drives for the wheels or for the legs can be saved.
    The same advantage arises when a connecting rod is provided along the common axles. Furthermore, this increases the contact surface when sinking in soft ground.
    In order to better respond to any surface and to further improve the maneuverability of the device, it is advantageous if each wheel is controlled separately.
    This can be easily realized without a variety of mechanical components that could be contaminated, if each wheel has a wheel hub motor. In a favorable embodiment, each wheel has a transmission gear.
    A particular embodiment provides that each wheel on a side facing away from the leg side surface has a spur. This will be at contact of the
    Underground with the spur at an oblique position at the end of the hopping process
    Moment introduced parallel to the ground in the device that serves to set up. Furthermore, this is favorable to a stable position of the device on the
    Side surfaces of the wheel to prevent. As a result, the device tilts further and comes to rest in a more favorable position for erecting.
    A particularly simple and inexpensive device arises when it has four legs, which in pairs have a common pivot axis.
    In further consequence, the invention will be explained with reference to the non-limiting figures. Show it:
    1 shows a device according to the invention in a side view.
    FIG. 2 shows the device in a schematic section along the line II-II according to FIG. 1; FIG.
    3 shows a device according to the invention in a second embodiment in a schematic section analogous to FIG. 2;
    4 shows the device in a view from the front;
    5 shows the device in a schematic section along the line V-V according to FIG. 1;
    Fig. 6 shows schematically the range of movement of the legs of the embodiment in Fig. 1;
    Fig. 7 shows a further embodiment in a view analogous to Fig. 6;
    8 shows a third embodiment in a view analogous to FIG. 6;
    Fig. 9a - 9e a hopping process;
    10a-10f a Aufrichtvorgang;
    11a-11c show an alternative erection process;
    Fig. 12a shows a first embodiment of a leg;
    Fig. 12b shows a second embodiment of a leg; and
    Fig. 12c shows a third embodiment of a leg.
    In Fig. 1 and Fig. 2, a device 1 is shown, which has two chassis elements 2. Each of the chassis elements 2 has two legs 3. The legs 3 are laterally on a base body 4 along a pivot axis A1 and A2 by a maximum
    Swivel angle α arranged pivotally. On the legs 3 is at one of the
    Base 4 remote end provided a wheel 5.
    At a side facing away from the leg 3 side surface F a spur 6 is arranged. In this case, the spur 6 is formed so that from the side surface F rods in curved or straight form leads to a point spaced from the side surface F point, which lies on the wheel axle R. In other, not shown, this is
    Point not on the wheel axis R, but off-center.
    In the embodiment shown, the chassis elements 2 each have at least one stepping motor 7, which is located in the base body 4. In other
    Designs may be connected to the axles and fewer stepper motors 7 may be needed. Furthermore, a transmission gear can be provided.
    The main body 4 is in the embodiment shown, a cubic body, which is for example made of titanium, through a partially spherical cage 8 before
    Damage is protected. In Fig. 1, the cage 8 is executed around the base body 4 as a cambered aluminum lattice cylinder instead of the top surfaces
    Hemisphere grid has.
    Two legs 3 of a chassis element 2 are along their wheel axis R over a
    Connecting rod 9 connected to each other and the wheels 5 each have to
    Bein 3 out a hub motor on. It may be in an alternative embodiment
    Motor be provided in the leg or in the main body.
    The embodiment shown here has a stepper motor 7 on a chassis element 2 along the first pivot axis A1 and two stepper motors 7 on the chassis elements 2 along the second pivot axis A2, which could pivot each leg 3 separately.
    Furthermore, it is provided in a special execution, in support of
    Provide leg movement in the end positions springs F1 and F2 between the chassis elements 2.
    In Fig. 3, an embodiment is shown in the per chassis element 2 a
    Stepper motor 7 is provided. A section to it is shown in Fig. 5. In a
    Embodiment in Fig. 4 is provided between leg 3 and axis a hinge with a spring F3.
    FIG. 6 shows the range of motion with circles 10. The legs are designated 3 in their initial position, 3 'in a raised position and 3' 'in a further raised position.
    The pivot axes A1 and A2 may also be coaxial, as shown in FIG. They can also be arranged vertically next to each other, as shown in Fig. 8.
    The pivot axes A point to the center of gravity S of the main body 4 at a normal distance n. This normal distance n in one exemplary embodiment is approximately one fifth of the radius r for a spherical basic body 4 with a radius r assuming an approximately uniformly distributed mass over the entire basic body 4. This is less than a quarter of the root of the ratio of mass moment of inertia J to the mass m of the body 4. Here, the moment of inertia J is taken into account about an axis through the center of gravity S parallel to the pivot axis A. The moment of inertia J is calculated as 2/5 * mr2. The ratio J / m is thus 2/5 * r2. The root of it gives about 0.63 * r. 0.16 * r equals about a quarter of it.
    The device 1 can reach about 15 km / h or up to 20 km / h and has its own power generation: solar panels for emergencies and LithiumIoneakkululatoren for several hours of regular operation. In alternative embodiments, fuel cells, other accumulators or mechanical stores for supplying energy and / or for storing energy may be provided.
    Vibration of the landing gear prevents "dusting" of the vertical and sloping surfaces. From time to time a small hop is provided for cleaning the surfaces and the dust is shaken off. Electrostatic charging or discharging of the surfaces to prevent the attachment of dust may also be provided.
    The device 1 hops by spreading the chassis elements 2 with the stepper motors 7. By sudden collapse of the chassis elements 2, the device 1 is moved away from the ground. This process will be described with reference to FIGS. 9a to 9e. In Fig. 9a, the legs 3 of the device 1 are pivoted about the pivot axes A and moved away from each other. By abruptly moving the legs 3 together with an angular velocity ω through the stepping motors 7 in FIG. 9b, the device 1 lifts off in FIG. 9c. In order to be able to jump exactly defined before the jump one
    Initial velocity v0 be achieved and an ideal Abhopfwinkel is 45 °. In the case of an unknown ground or in order to be able to better plan the hopping process, a small hopper can be provided for calibrating the device before the hopping process is initiated.
    In case of a slanted landing, the spur 6 introduces a moment M for placement in the device 1. A folding adapted to the respective situation is provided in order to control the hopping width, as well as the height and the hopping angle. If necessary, an active or passive hopping is possible to reach the desired point and / or to reduce energy.
    In a favorable embodiment of the device 1, the chassis elements 2, ie legs 3 and / or wheels 5 are flexible and it is favorable if the cage 8 is flexible.
    It is provided in not shown embodiments, that the suspension elements have different lengths.
    FIGS. 10a to 10f and 11a to 11c show variants for repositioning device 1 after it has been tilted. In the "reverse" position on the base body 4 (or cage 8), the chassis elements 2 are pivoted along the arrows 11 and 12 until the wheels 5 stand up below or next to the base body on the ground (FIGS. 10a and 10b). Then, by pivoting a chassis element 2 along the arrow 13, a roll over is achieved (FIGS. 10c to 10e) until the upright position (FIG. 10f) is reached again.
    In the lateral position (FIG. 11 a), the chassis elements 2 are in turn pivoted under or next to the base body 4. Depending on the end position (wrong or correct), turning over is now initiated or not as described in FIGS.
    In Fig. 12a an embodiment of a leg 3 is shown with a wheel 5 at the
    Side surface F a spur 6 is arranged. The embodiment in Fig. 12b has in
    In contrast, a second wheel 5 with spur 6 on the side surface F on. In Fig. 12c, an alternative embodiment is shown in which the leg 3, a wheel 5 is provided, which consists of a kind of cage, which is similar to the spurs 6 executed.
    权利要求:
    Claims (13)
    [1]
    P A T E N T A N S P R E C H E
    1. Device (1) with a base body (4) and at least two suspension elements (2), wherein each suspension element (2) has at least one leg (3) with at least one wheel (5) at the end remote from the base body (4), wherein by the device (1) a hopping movement is executable and to the suspension elements (2) are pivotable about each pivot axis (A), characterized in that the pivot axes (A) near the center of gravity (S) of the base body (4).
    [2]
    2. Device (1) according to claim 1, characterized in that the pivot axes (A) are arranged at a normal distance (s) to the center of gravity (S) which is smaller than four-fifths of the root of the ratio of the mass moment of inertia (J) of the base body (4) about an axis through the center of gravity (S) parallel to the pivot axis (A) of the base body (4) to the mass (m) and preferably is less than half the root of this ratio, and more preferably smaller than a quarter of Root of this relationship.
    [3]
    3. Device (1) according to claim 1 or 2, characterized in that the legs (3) are arranged laterally on the base body (4).
    [4]
    4. Device (1) according to one of claims 1 to 3, characterized in that the pivot axes (A) are parallel.
    [5]
    5. Device (1) according to one of claims 1 to 4, characterized in that a maximum pivot angle (α) of the chassis elements (2) is greater than 180 ° and preferably greater than 270 °.
    [6]
    6. Device (1) according to one of claims 1 to 5, characterized in that the pivot axes (A) are coaxial.
    [7]
    7. Device (1) according to one of claims 1 to 6, characterized in that the base body (4) has a cage (8) which is substantially spherical.
    [8]
    8. Device (1) according to one of claims 1 to 7, characterized in that a chassis element (2) has two interconnected legs (3) and preferably both suspension elements (2) has two interconnected legs (3).
    [9]
    9. Device (1) according to claim 8, characterized in that a connecting rod (9) along the common wheel axis (R) is provided.
    [10]
    10. Device (1) according to one of claims 1 to 9, characterized in that each wheel (5) is controlled separately.
    [11]
    11. Device (1) according to one of claims 1 to 10, characterized in that each wheel (5) has a wheel hub motor - and preferably a transmission gear - has.
    [12]
    12. Device (1) according to one of claims 1 to 11, characterized in that each wheel (5) on a side remote from the leg (3) side surface (F) has a spur (6).
    [13]
    13. Device (1) according to one of claims 1 to 12, characterized in that it comprises four legs (3), each pairwise having a common pivot axis (A).
    类似技术:
    公开号 | 公开日 | 专利标题
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    EP0169463B1|1988-03-30|Connection device for two members
    WO2004039652A1|2004-05-13|Moving device
    DE4035780A1|1991-06-06|Spring support device with low mass and low resonant frequency - uses symmetrically located spring elements with impact buffer having two common connectors
    DE3742508A1|1988-08-18|EXTENDABLE LIFTING DEVICE WITH ITS OWN DRIVE
    DE2160227A1|1973-06-07|HEIGHT-ADJUSTABLE SPRAYING BOOM SUSPENSION FOR MOBILE SCHAEDLING CONTROL DEVICES IN FIELD CROPS WITH A SPRAYING BOOM LYING TRANSVERSE TO THE DRIVING DIRECTION
    DE3917662C2|1996-12-12|mine
    同族专利:
    公开号 | 公开日
    WO2019051517A1|2019-03-21|
    AT519987B1|2018-12-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN101088835A|2007-06-15|2007-12-19|哈尔滨工程大学|Modular mechanical crab|
    CN102490911A|2011-12-16|2012-06-13|大连理工大学|Lunar surface walking device for lunar rover|
    US8365847B2|2005-08-29|2013-02-05|Mobile Intelligence Corporation|Jumping for reaching denied terrain|
    CN102009706B|2010-11-26|2012-01-25|南京工程学院|Vertical bouncing mechanism for robot|
    US8849451B2|2011-04-11|2014-09-30|Boston Dynamics, Inc.|Hopping robot|CN112429111B|2020-11-23|2021-09-03|佳木斯大学|Robot based on computer control|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50783/2017A|AT519987B1|2017-09-18|2017-09-18|DEVICE FOR CARRYING OUT A HIPPED MOVEMENT|ATA50783/2017A| AT519987B1|2017-09-18|2017-09-18|DEVICE FOR CARRYING OUT A HIPPED MOVEMENT|
    PCT/AT2018/060200| WO2019051517A1|2017-09-18|2018-09-06|Device for executing a jumping movement|
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