WO2019051517A1

WO2019051517A1 - Device for executing a jumping movement

Info

Publication number: WO2019051517A1
Application number: PCT/AT2018/060200
Authority: WO
Inventors: Eugen Svoboda
Original assignee: Eugen Svoboda
Priority date: 2017-09-18
Filing date: 2018-09-06
Publication date: 2019-03-21
Also published as: AT519987A4; AT519987B1

Abstract

The invention relates to a device (1) having a main body (4) and at least two chassis elements (2), each chassis element (2) having at least one leg (3) with at least one wheel (5) at the end remote from the main body (4), wherein a jumping movement can be executed by the device (1) and to this end the chassis elements (2) are each pivotable about a pivot axis (A). The problem addressed by the invention is that of providing a device which is less susceptible to tilting and can return autonomously to its use position more easily. To achieve this, according to the invention the pivot axes (A) lie close to the centre of gravity (S) of the main body (4).

Description

Device for carrying out a jumping movement

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 each pivotable about at least one pivot axis are.

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 is capable of rolling, with the wheels being driven by wheel hub motors, and it can bounce around. To jump, the legs are folded and unfolded. A disadvantage of this design is that this machine easily overturned in an unfavorable landing and can not come back from their own power in their use position.

In CN 101088835 A a walking device is shown having spider-like legs with several complex joints. A disadvantage of this device is that these joints are easily polluted by the dust of the environment and are impaired in their movement. Furthermore, a hopping movement is not easy.

From CN 102009706 A a jump mechanism for an application on the ground is known, in which are pivoted via a motor legs against the force of a spring about an axis spaced from the main body 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. This is relevant for different ground conditions in order to hop exactly aligned. Furthermore, can this device tilt easily and she is also unable to get back to their own use position.

The object of the present invention is to provide a device which leaves its use situation harder and easily re-enters this independently.

This object is achieved by an initially mentioned device according to the invention in that the pivot axes are close to the center of gravity of the body. Due to the favorable position of the pivot axes a higher range of motion during the jump is 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 less than four fifths of the root of the ratio of the mass moment of inertia of the main body about an axis through the center of gravity parallel to Pivot axis of the body to the mass, and preferably smaller than half the root of this ratio, and more preferably less than one quarter of the root of this ratio.

In order to ensure the freedom of movement of the legs, it is advantageous 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 lie 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 can be integrated into the main body or "slipped over" over the main 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. As a result, upon contact of the ground with the spur at an oblique position at the end of the hopping process, a moment parallel to the ground is introduced into the device, which serves for setting up. Furthermore, this is favorable to prevent a stable position of the device on the side surfaces of the wheel. 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 VV of 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;

9a to 9e a hopping process;

10a to 10f show an erection process;

FIGS. 11a to 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 arranged laterally on a base body 4 along a pivot axis AI and A2 pivotable about a maximum pivot angle α. On the legs 3, a wheel 5 is provided on a side facing away from the base 4 end.

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 further embodiments, not shown, this point is 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 embodiments, the axles may be connected 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, which is protected by a partially spherical cage 8 from damage. In Fig. 1, the cage 8 is designed around the main body 4 as a cambered aluminum lattice cylinder, which has hemispherical lattice instead of the top surfaces.

Two legs 3 of a chassis element 2 are connected to one another along their wheel axle R via a connecting rod 9 and the wheels 5 each have a wheel hub motor towards the leg 3. It may be provided in an alternative embodiment, a motor in the leg or in the main body.

The embodiment shown here has a stepper motor 7 in a chassis element 2 along the first pivot axis AI and two step motors 7 in the chassis element 2 along the second pivot axis A2, which could pivot each leg 3 separately.

Furthermore, it is provided in a particular embodiment, to provide support for the leg movement in the end positions springs F 1 and F 2 between the suspension elements 2.

In Fig. 3, an embodiment is shown in which per chassis element 2, a stepping motor 7 is provided. A section to it is shown in Fig. 5. In an embodiment in Fig. 4, a hinge with a spring F3 is provided between leg 3 and axis.

Fig. 6 illustrates 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 AI and A2, as shown in Fig. 7, also be coaxial. 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 to be 2/5 * mr ² . The ratio J / m is thus 2/5 * r ² . 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 lithium-ion batteries 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, an initial velocity vO must be reached before jumping and an ideal skimming angle 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.

In FIGS. 10a to 10f and 11a to 11c, variants are shown for repositioning device 1 after it has been tilted. In this case, in "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 below or next to the Stand the base body on the ground (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) has been reached again.

In the case of a lateral position (FIG. 11a), the chassis elements 2 are in turn pivoted below or next to the main 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 on the side surface F a spur 6 is arranged. In contrast, the embodiment in FIG. 12b has a second wheel 5 with spur 6 on the side surface F. 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.

Claims

PATENT APPLICATIONS

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 jumping movement is executable and 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. 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. Device (1) according to claim 1 or 2, characterized in that the legs (3) are arranged laterally on the base body (4).

4. Device (1) according to one of claims 1 to 3, characterized in that the pivot axes (A) are parallel.

5. Device (1) according to one of claims 1 to 4, characterized in that a maximum pivot angle (a) of the chassis elements (2) is greater than 180 ° and preferably greater than 270 °.

6. Device (1) according to one of claims 1 to 5, characterized in that the pivot axes (A) are coaxial.

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. 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. Device (1) according to claim 8, characterized in that a connecting rod (9) along the common wheel axis (R) is provided.

10. Device (1) according to one of claims 1 to 9, characterized in that each wheel (5) is controlled separately.

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. 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. 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).

2018 09 06

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