WO1999048578A1

WO1999048578A1 - Futureball

Info

Publication number: WO1999048578A1
Application number: PCT/US1999/006594
Authority: WO
Inventors: Alan Bright
Original assignee: Alan Bright
Priority date: 1998-03-26
Filing date: 1999-03-25
Publication date: 1999-09-30
Also published as: AU3204999A

Abstract

A purposely driven sphere (10). A power chair (14) having two driven wheels (20a, 20b), zero turn radius, is placed in the sphere. A stabilizing system (40) is secured to the power chair (14) and engages the inner surface of the sphere. A joy stick (20) controls the drive wheels which in turn moves the sphere. The stabilizer system ensures controlled motion.

Description

TITLE

Futureball

BACKGROUND OF THE INVENTION

Field of the Invention A sphere having a motorized drive cart received therein. The drive cart moves the sphere in a controlled manner in any direction.

Description of the Prior Art

The prior art spherical vehicles typically fall into either one or two categories. One category are those vehicles which are essentially uni-directional, see for example U.S. Pat. Nos. 2,267,254; 2,372,043; 3,013,806; 3,696,557 and 4,386,787. The other category are those vehicles in which the direction of the drive sphere is random, see U.S. Pat. Nos. 3,722,134 and 4,471,567.

Summary of the Invention

The present invention embodies a sphere having a drive cart therein. The drive cart moves the sphere. The movement of the sphere in any direction is purposive.

Broadly the invention comprises a sphere, a drive cart is received in the sphere and the drive cart has at least two wheels, both of which wheels engage the inner surface of the sphere. One or both of the wheels can be drive wheels. A stabilizer system maintains the equilibrium of the drive cart within the sphere both when the drive cart is moving the sphere and when the drive cart is at rest. The stabilizing system comprises a plurality of stabilizers extending from the drive cart. The stabilizers terminate in transfer bearings which engage the sphere to ensure the drive cart remains orientated within defined degrees of freedom. The bearings rotatably engage the inner surface of the sphere. The bearings, in a preferred embodiment, are located below the horizontal plane of the drive cart. Further, the drive cart/stabilizer system is designed to define a center of gravity of the drive cart/stabilizer system which is below the equator of the sphere and toward the front of the drive cart.

In a preferred embodiment of the invention, there are four stabilizers extending downwardly and outwardly from the drive cart and a rear stabilizer extending rearwardly and upwardly from the drive cart. There is a forward wheel or stabilizer to offset the rear stabilizer. There are two lower steering and drive wheels. The drive cart is powered by an electric battery which drives a motor. A joystick controls both - 2 - the speed of the wheels and controls the lower wheels for turning. The drive wheels effect the movement of the sphere. Brief Description of the Drawings

Fig. 1 is a side view of a driven sphere of the invention; Fig. 2 is a plan view of Fig. 1;

Fig. 3 is a front view of Fig. 1; Fig. 4 is an isometric view of a frame;

Fig. 5 illustrates a region of the center of gravity of the drive cart/stabilizer system; Fig. 6 is a side view of a stabilizer;

Fig. 7 is a plan view of a sphere of the invention; Fig. 8 is a front view of Fig. 5; Fig. 9 is a schematic of hemispheres of the invention;

Fig. 10 is an illustration of a front mechanism for locking the hemispheres together;

Fig. 11 is a view of Fig. 10 taken along lines 11-11; and Fig. 12 is an illustration of a portion of the rear of the sphere. Description of the Preferred Embodiment s)

Referring to Fig. 1, a driven sphere embodying the invention is shown generally at 10 and comprises a sphere 12, a drive cart (power chair) 14 and a stabilizing system 70/100/102.

The Power Chair The power chair 14 is a modified Jazzy 1100 Power Chair, commercially available from Pride Health Care, Inc., Exeter, PA (www . PRIDEHE ALTH . com) . The power chair has three pairs of wheels, forward idle wheels, middle drive wheels and rear idle wheels. It was modified as follows, the front and rear pairs of wheels and associated structural components securing the wheels to the chassis of the power chair were removed. The frame work on the back of the seat was removed and the foot rest and structure securing the foot rest to the chassis of the power chair were removed. The protective shell -like housing covering the chassis was also removed.

Referring to Figs. 1, 2 and 3, the power chair 14 comprises a chassis 16, back support 18 and a joystick 20. The actual speed and direction of the sphere is controlled by the joystick 20. Drive wheels 20a and 20b are designed for zero turn radius. These - 3 - features are inherent in the Jazzy 1100.

A stabilizing system, as described hereinafter, was bolted to the Jazzy 1100 chassis 16. The features of the Jazzy 1100 regarding power source, power train, joystick control and the like remained unchanged. The Stabilizing System

A frame 40 is shown in Fig. 4. The frame 40 is secured to the chassis 16 (shown in dotted lines) and the stabilizers are secured to the frame 40 (except for the front stabilizer). This frame 40 is secured to the chassis 16 (relevant portion in dotted lines) of the power chair 14. The frame 40 comprises side bars 42a and 42b each having one end 44a and 44b secured to the chassis 16. The front wheels (not shown) of the Jazzy 1100 were originally secured to the chassis 16 generally where the ends 44 are secured. Other ends 48a and 48b of the side bars 42 are secured to a sub-assembly 50. The sub-assembly 50 comprises a pair of parallel cross members 52 and 54, the cross member 54 joined to the other ends 48 of the side bars 42. A support post 56 extends upwardly from the cross member 52. Depending from the cross member 54 are support posts 58a and 58b which are joined at their lower ends 60a and 60b to the chassis 16. The rear wheels (not shown) of the Jazzy 1100 were originally secured to the chassis 16 generally where the ends 60 are secured. The frame components are preferably welded together. The frame 40 can either be welded or bolted to the chassis 16.

Referring to Figs. 1, 2, 3 and 4, an idle wheel 70 (stabilizer) is received on a shaft 72 and secured to a flat yoke 74. The yoke 74 is secured to the chassis 16. A plurality of identical stabilizers 100/102, together with the wheel 70, are designed to maintain the orientation of the power chair 14 within the sphere 12. Four stabilizers 100a, 100b, 100c and lOOd are secured (by welding) to the frame 40 at the ends 44 and 60. They extend downwardly and outwardly from horizontal 45° . They are equally spaced apart from one another. A fifth stabilizer 102 is welded to the top of the post 56. This stabilizer 102 extends upwardly and rearwardly 45°. The sixth stabilizer, the wheel 70, extends 45° upwardly from the chassis 16. The stabilizers are designed to bias the drive cart 14 to a null (level) condition within the sphere.

The power chair 14 and stabilizers 70/100/102 are designed such that the center of gravity of the combined mass of the power chair/stabilizer system results in a center - 4 - of gravity which is located below the equator and forward of the drive cart. Specifically, referring to Fig. 5, axes A- A and B-B are perpendicular to one another and intersect at the center of the sphere 12. The center of gravity is along the 45° line C-C, between lines D-D which define the middle third of the line C-C. Specifically, in the preferred embodiment, the center of gravity is 30° forward of the axis A A and 15° below the axis BB.

Referring to Fig. 6, the stabilizers 100/102 comprise an arm 104 welded to the frame 40; the arm 104 terminates in a sleeve 106. The end of the sleeve 106 has a concave surface 108. Rotatably received in the surface 108 is a ball (transfer) bearing 110.

The stabilizers 70/100/102 do not have a damping system, optionally any or all of the stabilizers can have a damping system.

The Sphere As shown in Figs. 7 and 8, the sphere 10 (e.g. , 6" nominal diameter) comprises an upper hemisphere 120 and a lower hemisphere 124 joined together to form the hollow sphere 12.

As shown, each hemisphere 120 and 124 is formed of panels 122a-122h and 126a-126f respectively. The panels, e.g. 1/2" polycarbonate, are bonded together to form a hemisphere. Longitudinal bumper/treads 130, e.g. 3/8" aluminum strips 132, are fastened to the hemisphere. A rubber strip 134 is bonded to the metal strip 132, Fig. 11. The treads 130 are fastened to the hemisphere at the joint lines of the panels to strengthen the bond between the panels. The treads also provide traction and cushioning. Equatorial treads 136, identical in composition to the treads 130 are fastened to the outside surfaces of the edges of each hemisphere. Although the pattern of treads defines octants on each hemisphere, the tread pattern can assume any geometric configuration. This would be particularly true where the hemisphere is formed, e.g. cast or molded as a single piece. Also, instead of the sphere opening as a hemisphere for access and egress, once the sphere is formed a removable hatch could be formed in the sphere. Referring to Fig. 9, after the hemispheres 120-124 are formed (the treads

130/136 not shown), flanges 140a and 140b are secured by fasteners (bolts) to the inside edge of each hemisphere. The flanges 140, e.g. 3/8" thick aluminum strip, extend approximately 2" beyond the edge of each hemisphere. The hemispheres are locked to one another to form the sphere. The hemispheres are joined by offset hinges at the 'rear' of the sphere.

There are three sets of 'locks' to secure the hemispheres together. A pair of locks on either side of the hinges and a 'lock' at the front of the sphere. Referring to Figs. 9, 10 and 12, at the 'front' of the sphere there are two plates

144a and 144b, e.g. 5/8" plates, secured (welded) to the flanges 140a and 140b, having through holes 146a and 146b which are in registration when the hemispheres are closed.

A channel strip 148 has a floor 150 and sides 152a and 152b and ends 154a and 154b. Apertures 147a and 147b are formed in the sides 152a and 152b in the center of the strip 148. Apertures (not shown), Fig. 12, are formed in the sides 152 of the ends 154.

Referring to Fig. 12, blocks 146c and 146d; and 146e and 146f are secured to the flanges 140a and 140b. When the hemispheres 120 and 124 are closed, through holes (not shown) in the blocks 146c-f are in registration. The ends 154a and 154b of the channel strip 148 have holes (not shown) in the walls 152.

The apertures 147 in the center of the channel strip 148 are aligned with the holes 146 in the blocks 144a and 144b. A locking pin 160 (Fig. 9) passes through the apertures 147 and through holes 146 and secures the center of the channel strip 148 to the blocks 144, locking the hemisphere 120/124 together.

The channel strip 148, then girths the sphere 12 and the ends 154 of the channel strip are secured to the rear of the sphere 12. Locking pins 156a and 156b secure the ends 154a and 154b to the blocks 146c/146d and 146e/146f.

Referring to Fig. 12, two offset hinges 142a and 142b are secured at the 'rear' of the sphere to the flanges 140 to facilitate the opening and closing of the hemispheres.

It will be understood that when the sphere is locked in place the sphere maintains a smooth, continuous outer surface and the outer surface of the channel 90 lies in a plane which is either co-planar with the outer surface of the sphere 12 or recessed with reference to the outer sphere. The equatorial treads 136 are spaced apart from the edge of the hemispheres 120 and 124 to allow the locking pins to be inserted and removed. Operation In the operation of the invention, the top hemisphere 120 is closed and locked to the lower hemisphere as previously described. An operator of the driven sphere simply turns on the power chair. Moving the joystick forward will move sphere in a forward direction. Pulling the joystick rearwardly moves the sphere in a rearward direction. Pushing the joystick to the right moves the right wheel 22b in a clockwise direction and moves the left wheel in a counterclockwise direction. Conversely, moving the joystick to the left rotates the right wheel counterclockwise and the left wheel clockwise. With a 72" sphere (nominal diameter) weighing approximately 625 pounds and with a drive cart stabilizer system received therein substantially as shown in the drawings weighing approximately 1100 pounds including a driver of average height and weight, the drive cart can achieve a forward velocity of 12 miles per hour.

Although described with reference to a person operating the sphere, a vision/sensing system could replace the person and the sphere remotely controlled.

The preferred embodiment of the invention has been described with reference to a specific configuration. Obviously, more than three wheels can be used or less than three wheels in various orientations and any combination of both driven and idle wheels can be used. Various power train configurations can be used as will be well within the skill of the art including battery driven electrical/hydraulic motors. Further, other stabilizing systems which allow for a free-floating drive cart within the sphere are within the scope of the invention. That is, stabilizer systems other than the described 4/2 stabilizer system can be used.

The foregoing description has been limited to a specific embodiment of the invention. It will be apparent, however, that variations and modifications can be made to the invention, with the attainment of some or all of the advantages of the invention. Therefore, it is the object of the appended claims to cover all such variations and modifications as come within the true spirit and scope of the invention. Having described my invention, what I now claim is:

Claims

- 7 - CLAIMS: 1. A spherical vehicle which comprises: a hollow sphere having an inner and outer surface; a power chair received within the sphere, the drive cart having at least two wheels, one of said wheels being a drive wheel which contacts the inner surface of the sphere to impart motion to the sphere; means for stabilizing the drive cart with reference to the sphere; and means for controlling the speed and direction of the sphere.

2. The vehicle of claim 1 which comprises: means for entering and leaving the sphere.

3. The vehicle of claim 1 which comprises: a plurality of bumper/tread strips secured to the outer surface of the vehicle.

4. The vehicle of claim 4 wherein the bumper/ tread strips define octants on the outer surface of the sphere.

5. The system of claim 1 wherein both wheels are drive wheels.

6. The vehicle of claim 7 wherein the drive wheels are configured for a zero turn radius.

7. The vehicle of claims 1 or 5 wherein the means for stabilizing the power chair with reference to the sphere comprises a plurality of stabilizers extending from the power chair, said stabilizers terminating in rolling surfaces, which rolling surfaces engage the inner surface of the sphere.

8. The vehicle of claim 7 where the stabilizers comprise four equally spaced stabilizers extending downwardly and outwardly from the power chair at approximately 45 ┬░ .

9. The vehicle of claim 8 which comprises a fifth stabilizer extending upwardly and rearwardly from the power chair.

- 8 - 10. The vehicle of claim 8 wherein the rolling surfaces comprise spherical bearings rotatably received within the end of the stabilizers.

11. The vehicle of claim 14 wherein the power chair and stabilizers are configured such that the center of gravity of the combined power chair/stabilizers is below the horizontal plane of the drive cart and forwardly of the center of the drive cart.

12. The vehicle of any preceding claim which comprises: a sixth stabilizer extending forwardly and upwardly from the power chair.