vibration-operated ascending apparatus

专利摘要:
VIBRATION ASCENSION ROBOT. The present invention relates to a housing, a rotational motor within the housing, a vibration mechanism and a plurality of appendages each having an appendix base close to the housing and an appendage tip distant from the housing. One or more of the appendages are adapted to cause the apparatus to move across a surface in a forward direction generally defined by a longitudinal displacement between the appendix base and the appendix tip, and the appendices include two or more appendages arranged so that the appendix tips of the two or more appendages are adapted to contact opposing surfaces to produce a net force in a direction generally defined by a longitudinal displacement between the appendix base and the appendix tip of the two or more appendages according to the mechanism of vibration causes the device to vibrate. The net force can allow the device to rise when the opposite surfaces are tilted.
公开号:BR102012006448B1
申请号:R102012006448-0
申请日:2012-03-22
公开日:2020-12-29
发明作者:Jeffrey R. Waegelin；Gregory E. Needel；Guijiang Li；Robert H. Mimlitch Iii；David Anthony Norman；Joel Reagan Carter
申请人:Innovation First, Inc；
IPC主号:

专利说明:

BACKGROUND
[0001] The present invention relates to devices that move based on oscillatory movement and / or vibration.
[0002] An example of vibration-driven motion is an electric football game by vibration. A horizontal vibrating metal surface induces inanimate plastic figures to move randomly or slightly directionally. More recent examples of vibration-driven movement use internal energy sources and a vibration mechanism located on a vehicle.
[0003] One method for creating vibrations that induce movement is to use rotational motors that rotate an axis attached to a counterweight. The counterweight rotation induces an oscillatory movement. Power sources include rope springs that are manually energized or DC electric motors. The most recent trend is to use pager engines designed to vibrate a pager or cell phone in silent mode. Vibrobots and Bristlebots are two modern examples of vehicles that use vibration to induce movement. For example, small robotic devices, such as Vibrobots and Bristlebots, can use motors with counterweights to create vibrations. The legs of the robots are usually metallic wires or rigid plastic bristles. The vibration causes the entire robot to vibrate up and down as well as rotate. These robotic devices tend to float and rotate because no significant directional control is achieved.
[0004] Vibrobots tend to use long metal wire legs. The shape and size of these vehicles vary widely and typically range from short 50.8 mm (2 ") devices to tall 254 mm (10") devices. Rubber feet are often added to the legs to avoid damaging the table tops and to change the friction coefficient. Vibrobots typically have 3 or 4 legs, although designs with 10-20 exist. The vibration of the body and legs creates a pattern of movement that is mainly random in direction and in rotation. The collision with the walls does not result in a new direction and the result is that the wall only limits movement in that direction. The appearance of natural movement is very low due to the highly random movement.
[0005] Bristlebots are sometimes described in the literature as tiny directional Vibrobots. Bristlebots use hundreds of short nylon bristles for legs. The most common source of bristles, and the vehicle body, is to use the entire head of a toothbrush. A pager engine and battery complete the typical design. The movement can be random and without direction depending on the motor and the orientation of the body and the direction of the bristles. Designs that use backward-tilted bristles with a rotary motor attached can achieve a general forward direction with varying amounts of curves and lateral fluctuations. Collisions with objects such as walls cause the vehicle to stop, so turn left or right and continue forward in a general forward direction. The appearance of realistic movement is minimal due to smooth sliding movement and a zombie-like reaction to hitting a wall.
[0006] JP2007253281 discloses an automatic travel robot capable of smooth and stable operation without being influenced by the shape of the inner wall surface of a pipe and the angle of inclination of a pipe. In particular, a pair of leg portions facing each other are arranged on the outer surface of each leg portion so that they are facing outward and inclined at a predetermined angle to the outer surface. A driving means provided between at least one pair of legs to guide the legs towards and away from each other, at least one pair of legs. And vibrating means provided between the vibrating means to apply vibration to the respective legs. The drive means includes a telescopic coupling mechanism that connects at least one pair of legs, a sliding mechanism that expands and contracts the coupling mechanism and a drive mechanism that drives the slider mechanism. SUMMARY
[0007] In general, an innovative aspect of the subject described in this specification can be incorporated into an apparatus that includes a body, a vibration mechanism coupled to the body, and a plurality of appendages each having an appendix base close to the body and an appendix tip away from the body. At least a portion of the plurality of appendages is adapted to cause the apparatus to move across a surface in a forward direction generally defined by a longitudinal displacement between the appendix base and the appendix tip as the vibration mechanism causes the device vibrates. In addition, the plurality of appendages includes two or more appendages arranged so that the appendix tips of the two or more appendages are adapted to contact opposing surfaces to produce a resulting force in a direction generally defined by a longitudinal displacement between the appendix base. and the appendix tip of the two or more appendages depending on the vibration mechanism causes the device to vibrate.
[0008] These and other modalities may each optionally include one or more of the following characteristics. Opposite surfaces include at least two surfaces. Opposite surfaces include opposite surfaces that are substantially parallel to each other. The at least two surfaces are arranged on an at least substantially closed conduit. The resulting force in a direction usually defined by a displacement between the appendix base and the appendix tip of the two or more appendages exceeds an opposite gravitational force on the apparatus. The resulting force allows the device to rise between substantially vertical opposing surfaces. Each of the two or more appendages, as a result of contacting a corresponding surface, produces a resulting force that includes a positive component force in a direction substantially perpendicular to the corresponding surface and a positive component force in a direction generally defined by a longitudinal displacement between the appendix base and the appendix tip. The positive component force in the direction substantially perpendicular to the corresponding surface for one of the two or more appendages is substantially opposite to the positive component force in the direction substantially perpendicular to the corresponding surface for at least one other appendage of the two or more appendages. The plurality of appendages includes a plurality of legs generally arranged in a first direction and the two or more appendages include a first appendix generally disposed in a second direction substantially opposite the first direction. The two or more appendages still include at least two legs of the plurality of legs, and the at least two legs and the first appendage are adapted to allow the apparatus to rise between substantially vertical surfaces that are spaced so that the appendix ends of the hairs at least two legs and the appendix tip of the first appendix apply alternating forces on opposite surfaces. The legs are arranged in two rows, with the appendix base of the legs in each row coupled to the body substantially along a side edge of the body. The body includes a housing, a rotary motor is located within the housing, the legs are integrally coupled to a portion of the housing on a leg base, and at least a portion of the housing is located between the two rows of legs. At least one of the two or more appendages is removably attached to the body. The plurality of appendages includes a plurality of legs generally arranged in a first direction and the two or more appendages include: a first appendix generally arranged in a second direction substantially perpendicular to the first direction; and a second appendix generally disposed in a third direction substantially perpendicular to the first direction and substantially opposite the second direction. The vibration mechanism includes a rotational motor that rotates an eccentric load. The plurality of appendices includes a plurality of legs generally arranged in a first direction, the rotational motor has a geometric axis of rotation that passes within approximately 20% of the device's center of gravity as a percentage of the device's height, and the housing is configured to facilitate the rolling of the device around a longitudinal center of gravity of the device, based on a rotation of the eccentric load, with the device on a substantially flat surface when the legs are not oriented so that a furry leg tip at least one leg on each side of the body contact a substantially level surface. The plurality of legs are arranged in two rows and the rows are substantially parallel to the geometric axis of rotation of the rotational motor, and at least some of the leg tips that contact the substantially flat surface tend to substantially prevent the device from rolling based on a spacing of the two rows of legs when the legs are oriented so that a leg tip of at least one leg on each side of the body contacts the substantially flat surface. At least one of the two or more appendages is in front of a longitudinal center of gravity of the apparatus. Each of the plurality of appendages is constructed of a flexible material, injection molded, and integrally coupled to the body at the base of the appendix. The rotation forces of the eccentric load interact with a resilient feature of at least one drive appendage to cause the at least one drive appendage to leave a supporting surface as the device moves in the forward direction. A friction coefficient of a portion of at least a subset of the legs that contacts a support surface is sufficient to substantially eliminate fluctuation in a lateral direction. The eccentric load is configured to be located towards a front end of the device in relation to the drive appendages, and the front end of the device is defined by an end in a direction that the device primarily tends to move as the rotary motor rotates. eccentric load. The plurality of appendages is integrally shaped with at least a portion of the body. At least a subset of the plurality of appendages, including the two or more appendages, are curved, and the ratio of the radius of curvature of the curved appendages to the appendix length of the appendages is in the range of 2.5 to 20.
[0009] In general, an innovative aspect of the subject described in this specification can be incorporated into methods that include the actions of inducing a vibration of a vibration-driven device, and causing the device to climb up a substantially inclined duct, and at least partially closed, using two or more appendages that deflect to allow movement of the device in the forward direction and that provide resistance to movement in a backward direction that is opposite to the forward direction. The vibration-driven device includes a body and a plurality of shaped legs each having a leg base and a leg tip at an end furthest from the leg base. The legs are attached to the body at the leg base and include at least one elastomeric drive leg, and the vibration causes the device to move in a forward direction generally defined by a displacement between the leg base and the leg tip of the at least one drive leg as the device vibrates. The two or more appendages still provide substantially opposite forces on the device, with each opposite force being in a direction substantially orthogonal to the forward direction.
[00010] These and other modalities may each optionally include one or more of the following characteristics. The device is supported on a surface, and the device is induced or otherwise moved across the surface in the forward direction generally defined by a displacement between the leg base and the leg tip of the at least one drive leg as per device vibrates. Vibration of the device causes at least one drive leg to deflect in a direction opposite to the forward direction without substantial sliding of the at least one drive leg over the surface when the resulting forces on at least one drive leg are downward , and the resilience of the at least one elastomeric drive leg causes the at least one drive leg to deflect in the forward direction when the resulting forces on the at least one drive leg are upward. Inducing vibration includes rotating an eccentric load. The two or more appendages are attached to the body of the device. At least one of the two or more appendages comprises one of the plurality of legs and at least one of the two or more appendages is attached to an upper side of the body. The two or more appendages are attached to the conduit and contact the body of the device. The two or more appendices include at least three appendices. The two or more appendages are adapted to allow the device to climb a vertical duct. The two or more appendages are attached to the device body, and the conduit, the device body, and the two or more appendages are configured so that each of the two or more appendages is repeatedly in contact with an internal surface of the conduit for sufficient periods to produce a generally forward movement. The vibration of the device causes at least one of the two or more appendages to deflect in a direction opposite to the forward direction without a substantial sliding of the at least one appendage on a corresponding inner surface of the conduit when the resulting forces on the at least one appendage they are towards the corresponding inner surface, and the resilience of at least one appendage causes the at least one appendage to deflect in the forward direction when the resulting forces on or at least one appendage are moving away from the corresponding inner surface.
[00011] In general, an innovative aspect of the present subject described in this specification can be incorporated into an apparatus that includes a body, a vibration mechanism coupled to the body, and a plurality of appendages each having an appendix base close to the body and an appendix tip away from the body. At least a subset of the plurality of appendages extends from the body, is arranged so that each of the appendages in the subset contacts one of a plurality of substantially parallel surfaces, and is adapted to cause the apparatus to rise up a substantially inclined surface according to the vibration induced by the vibration mechanism causes the appendages in the subset to contact at least alternately one of the plurality of substantially parallel surfaces.
[00012] These and other modalities may each optionally include one or more of the following characteristics. Vibration induced by the vibration mechanism causes at least one of the appendages in the subset to maintain at least substantially constant contact with one of the plurality of substantially parallel surfaces and at least one of the appendages in the subset to alternately contact and leave an opposite surface of the plurality of substantially parallel surfaces. At least one of the appendages in the subset maintains at least substantially constant contact with one of the plurality of substantially parallel surfaces and at least one of the appendages in the subset maintains a substantially constant contact with the opposite surface of the plurality of substantially parallel surfaces. The contact by each of at least two of the appendages in the subset with a corresponding of the plurality of surfaces provides substantially opposing forces that facilitate the ascent of the substantially inclined surface by the apparatus. The subset of the plurality of appendages is adapted to produce a force in a forward direction generally defined by a longitudinal displacement between an appendage base close to the body and an appendage tip distant from the body as the vibration mechanism causes the appendages to maintain a substantially constant contact with the two contacts alternately from one of the plurality of parallel surfaces. Each of the appendages in the subset is curved in a direction substantially opposite to the forward direction and constructed of elastomeric material.
[00013] In general, an innovative aspect of the subject described in this specification can be incorporated into a system that includes an inclined duct that has two substantially opposed parallel surfaces, an autonomous device that includes a body, a vibration mechanism coupled to the body, and a plurality of appendages each having an appendix base close to the body and an appendage tip distant from the body. At least a portion of the plurality of appendages is adapted to cause the apparatus to move across a surface in a forward direction generally defined by a longitudinal displacement between the appendix base and the appendix tip as the vibration mechanism causes the device vibrates. The plurality of appendages includes two or more appendages arranged so that the appendage tips of the two or more appendages are adapted to contact two substantially parallel opposing surfaces to produce a resulting force in a direction generally defined by a longitudinal displacement between the appendix base. and the appendix tip of the two or more appendages depending on the vibration mechanism causes the device to vibrate. The resulting force causes the autonomous device to ascend the inclined duct.
[00014] These and other modalities may each optionally include one or more of the following characteristics. The conduit comprises a tube. The conduit is wide enough to allow two of the autonomous devices to pass through each other. The conduit includes at least one of a straight component, a curved component, and an intersecting component, or a connector. A plurality of duct components are adapted to connect joints to create a habitat.
[00015] Details of one or more modalities of the subject described in this specification are presented in the accompanying drawings and in the description below. Other characteristics, aspects, and advantages of the subject will be apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS
[00016] Figure 1 is a diagram that illustrates a device energized by exemplary vibration.
[00017] Figures 2A, 2B, 3A, and 3B are diagrams that illustrate exemplary forces that are involved with the movement of the device energized by the vibration of figure 1.
[00018] Figure 4 shows an exemplary front view that indicates a center of gravity for the device.
[00019] Figure 5 shows an exemplary side view that indicates a center of gravity for the device.
[00020] Figure 6 shows an exemplary device that includes a pair of lateral ascending appendages.
[00021] Figures 7A and 7B show exemplary dimensions of the device.
[00022] Figures 7C and 7D collectively show an example of a removable fixable appendage for the device.
[00023] Figures 7E and 7F show another example of a removable attachable attachment for the device.
[00024] Figure 8 shows an exemplary configuration of exemplary materials from which the device can be built.
[00025] Figure 9A shows an exemplary environment within which the device can operate and climb within a conduit.
[00026] Figure 9B shows an exemplary environment within which the device has climbed into and almost to the top of the duct.
[00027] Figure 9C shows an exemplary loop in the form of a double loop.
[00028] Figure 9D is a diagram of a conduit adapted to facilitate the climb by a device powered by vibration.
[00029] Figure 10A is a flow chart of a process for operating a vibration powered device.
[00030] Figure 10B is a flow chart of a process for the vibration powered device to rise.
[00031] Figure 11 is a flow chart of a process for building a device powered by vibration.
[00032] Figure 12A shows an exemplary tube habitat within which multiple devices can operate and interact.
[00033] Figure 12B shows a top view of tube habitat.
[00034] Figures 13A through 13D show several views of an exemplary straight tube assembly.
[00035] Figures 13E to 13G show exemplary dimensions of the straight tube assembly.
[00036] Figures 13H through 13K show several views of an exemplary curved tube assembly.
[00037] Figures 13L through 13Q show several views of an exemplary Y-shaped tube assembly.
[00038] Figures 13R through 13W show several views of an exemplary looped tube assembly.
[00039] Figures 14A through 14D show several views of an exemplary connector.
[00040] Figures 14E through 14H show several views of another exemplary connector.
[00041] Figure 15A is a side view of the alternative vibration powered device.
[00042] Figure 15B is a top view of the alternative vibration powered device.
[00043] Figure 15C is a front view of the alternative vibration powered device.
[00044] Figure 15D is a side view of the alternative vibration powered device as it moves through an exemplary curved upward duct.
[00045] The same reference numbers and designations in the various drawings indicate the same elements. DETAILED DESCRIPTION
[00046] Small robotic devices, or vehicles powered by vibration, can be designed to move across a surface, for example, a floor, a table, another relatively flat or smooth surface, or a concave or convex curved surface (for example , in any direction). The robotic device is adapted to move autonomously, and in some implementations it turns in seemingly random directions. In general, robotic devices include a body (or housing), multiple appendages (for example, legs and other appendages), and a vibration mechanism (for example, a spring-loaded motor or mechanical winding mechanism that spins an eccentric load, a motor or other mechanism adapted to induce an oscillation of a counterweight, or another arrangement of components adapted to rapidly change the device's center of mass ). As a result, miniature robotic devices, when in motion, can resemble organic life, such as beetles or insects.
[00047] The movement of the robotic device can be induced by the movement of a rotational motor within, or trapped in, the device, in combination with a rotating weight with a center of mass that is offset in relation to the rotational geometric axis of the motor. The rotational movement of the weight causes the motor and the robotic 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), although higher or lower rpm values can be used. As an example, the device can use the type of vibration mechanism that exists on many pagers and cell phones that, when in vibration mode, cause the pager or cell phone to vibrate. Vibration induced by the vibration mechanism can cause the device to move across the surface (for example, the floor), for example, using legs that are configured to flex alternately (in a specific direction) and return to the original position as per vibration causes the device to move up and down.
[00048] Various features in robotic devices. For example, various implementations of the devices may include variations of certain characteristics, for example, the shape of the legs and / or other appendages, the number of legs and / or other appendages, the friction characteristics of the tips of the legs and / or another appendix , the relative rigidity or flexibility of the legs and / or other appendages, the resilience of the legs and / or other appendages, the relative location of the rotating counterweight to the legs and / or other appendages, etc. For example, variations in certain characteristics can facilitate an efficient transfer of vibrations to a forward movement, including a forward movement that can allow the device to ascend at any angle and any orientation including a right side up, side orientation top down, and laterally. The speed and direction of movement of the robotic device can depend on many factors, including the rotational speed of the motor, the size of the displaced weight attached to the motor, the power supply, the characteristics (for example, the size, orientation, shape, material, resilience, friction characteristics, etc.) of the appendages attached to the device housing, the properties of the surface on which the device operates, the total weight of the device, and so on. Although in general, appendages include legs on which the device rests on a substantially flat surface and by which forward movement over the surface is achieved, appendices may also include non-leg appendages (for example, on the top or sides of the device) that provide other movement capabilities for the device, such as the ability of the device to rise, as will be described below.
[00049] In some implementations, the devices include features that are designed to compensate for a tendency of the device to turn as a result of counterweight rotation and / or change the tendency of, and the direction of, curve between different robotic devices. The components of the device can be positioned to maintain a relatively low center of gravity (or center of mass) to discourage tipping (for example, based on the lateral distance between the leg tips) and align the components with the rotational geometric axis of the rotary motor to encourage rolling (for example, when the device is not standing). Likewise, the device can be designed to encourage self-straightening based on characteristics that tend to encourage rolling when the device is on its back or side in combination with the relative flatness of the device when standing (for example, when standing). the device is "standing" on its leg tips). The device's features can also be used to enhance the appearance of random movement and make the device appear to respond intelligently to obstacles. Different leg configurations and settings can also induce different types of movement and / or different responses to vibration, obstacles, or other forces. Furthermore, adjustable leg lengths can be used to provide some degree of steering capability. In some implementations, robotic devices can simulate real-life objects, such as crawling beetles, rodents, or other animals and insects.
[00050] Figure 1 is a diagram illustrating an exemplary vibration powered device 100 that is formed like a beetle. Device 100 includes a body (for example, a housing 102, resembling the body of the beetle) and appendages (for example, legs 104). Inside (or trapped in) housing 102 are components that control and provide movement for device 100, including a rotary motor, a power supply (e.g., a battery), and an on / off switch. Each appendix (for example, legs 104) includes an appendix tip (for example, a leg tip 106a) and an appendix base (for example, a leg base 106b). The appendix bases are close to the body and the appendix tips are far from the body. The properties of the appendages (for example, the legs 104), which include the position of each appendix base (for example, the leg base 106b) in relation to the appendage tip (for example, the leg tip 106a), can contribute to the direction and speed in which the device 100 tends to move. For example, each appendix base is located farther forward than the tip, and this configuration allows device 100 to generally move in the forward direction. The device 100 is presented in an upright position (that is, resting on the legs 104) on a support surface 110 (for example, a floor, a table top, etc.), substantially flat that counteracts the gravitational forces ).
[00051] As shown in figure 1, housing 102 includes at least one front 111a, one rear 111b, side sides, an upper part, and a lower part. Device 100 tends to move towards the front 111a of device 100 based on the configuration of the appendices. The plurality of appendages includes a plurality of legs 104 which are generally arranged in a first direction (for example, extending substantially below the bottom of housing 102). The plurality of appendages also includes one or more other non-leg appendages generally arranged in at least a second direction (for example, extending substantially upward from the top of housing 102, out of the side of housing 102, or some combination thereof) . In some implementations, the first and second directions are substantially opposite to each other, while in other implementations, non-leg appendages may substantially oppose each other or, in combination, provide a force that is in substantial opposition to plurality of legs 104 when the non-leg appendages are in contact with a surface.
[00052] For example, non-leg appendages also include one or more ascending appendages (for example, an upper ascending appendage 105) that are arranged in opposite directions to legs 104. For example, unlike legs 104 that point generally below housing 102 (for example, towards surface 110), the upper ascending appendage 105 generally points upwards. As shown in figure 1, the upper rise appendage 105 may be shorter than the length of the legs 104, but long enough to project higher than the highest point on housing 102. Also, the upper rise appendage 105 can project slightly further from the center of gravity of housing 102 than, slightly less than, or approximately the same as the distance that legs 104 project below the center of gravity of housing 102. As shown, the appendix of upper rise 105 may have approximately the same curvature and inclination as the legs 104, and the upper rise appendage 105 may be placed so that the appendix tip of the upper rise appendage 105 is close to the leg tips of the front legs 104a, for example, in the direction of longitudinal travel of the device. Other implementations are possible. For example, the upper ascending appendix 105 may additionally be in front of or behind the housing 102. In another example, the upper ascending appendage 105 may have a different shape (for example, including the curvature of the appendix) and size. In some implementations, multiple high rise appendages 105 may exist, such as in rows and / or columns with respect to the forward direction of the device 100. LEGS OVERVIEW
[00053] Legs 104 may include front legs 104a, medium legs 104b, and rear legs 104c. For example, device 100 may include a pair of front legs 104a that may be designed to operate differently from the middle legs 104b and the rear legs 104c. For example, front legs 104a can be configured to provide a driving force for device 100 by contacting an underlying surface 110 and causing the device to bounce forward as the device vibrates. The medium legs 104b can help to provide a support to counteract material fatigue (for example, after the device 100 rests on the legs 104 for long periods of time) which can eventually cause the front legs 104a to deform and / or lose resilience. In some implementations, device 100 may exclude the middle legs 104b and include only the front legs 104a and the rear legs 104c. In some implementations, the front legs 104a and one or more rear legs 104c can be designed to be in contact with a surface, while the middle legs 104 can be slightly off the surface so that the middle legs 104b do not introduce drag forces and / or significant additional jumping forces that may make it more difficult to achieve the desired movements (for example, the tendency to move in a relatively straight line and / or a desired amount of random movement).
[00054] In some implementations the device 100 may be configured so that only two front legs 104a and one rear leg 104c are in contact with a substantially flat surface 110, even if the device includes more than one rear leg 104c and several legs means 104b. In other implementations, device 100 may be configured so that only one front leg 104a and two rear legs 104c are in contact with a flat surface 110. Throughout this specification, descriptions of being in contact with the surface may include a degree of relative contact. For example, when one or more of the front legs 104a and one or more of the rear legs 104c are described as being in contact with a substantially flat surface 110 and the middle legs 104b are described as not being in contact with surface 110, it is also It is possible that the front and rear legs 104a and 104c may simply be substantially longer than the average legs 104b (and sufficiently rigid) so that the front and rear legs 104a and 104c provide more support for the weight of the device 100 than the medium legs 104b, although medium legs 104b are technically actually in contact with surface 110. In some implementations, even legs that have a minor contribution to supporting the device can still be in contact when device 100 is in a position vertical, especially when the vibration of the device causes an upward and downward motion that compresses and bends the legs s and allows additional legs to contact surface 110. Greater predictability and control of movement (for example, in a straight direction) can be achieved by constructing the device so that a sufficiently small number of legs (for example, less twenty or less than thirty) contact the support surface 110 and / or contribute to the support of the device in the vertical position when the device is either at rest or as the rotating eccentric load induces movement. In this regard, it is possible for some legs to provide support even without contacting the support surface 110 (for example, one or more short legs can provide stability by contacting an adjacent longer leg to increase the total stiffness of the adjacent longest leg). Typically, however, each leg is sufficiently rigid so that four or less legs are able to support the weight of the device without substantial deformation (for example, less than 5% as a percentage of the height of the leg base 106b from the support 110 when device 100 is in a vertical position).
[00055] Different leg lengths can be used to introduce different movement characteristics, as further discussed below. The various legs may also include different properties, for example, different stiffness or friction coefficients, as further described below. Generally, the legs can be arranged in substantially parallel rows along each side of the device 100 (for example, Figure 1 shows a row of legs on the right side of the device 100; a corresponding row of legs (not shown in figure 1) can be located along the left side of the device 100.
[00056] In general, the number of legs 104 that provides any support or significant support for the device can be relatively limited. For example, the use of less than twenty legs that contact the support surface 110 and / or that provide support for the device 100 when the device 100 in a vertical position (i.e., an orientation in which one or more drive legs 104a are in contact with a support surface) can provide more predictability in the directional movement trends of the device 100 (for example, a tendency to move in a relatively straight and forward direction), or it can improve a tendency to move relatively fast by increasing the potential deflection of a smaller number of legs, either can minimize the number of legs that need to be changed to obtain the desired directional control, or can improve the workability of fewer legs with sufficient spacing to leave room for tooling. In addition to providing support by contacting support surface 110, legs 104 can provide support, for example, by providing increased stability for legs contacting surface 110. In some implementations, each of the legs that provides independent support for the device 100 is capable of supporting a substantial portion of the weight of device 100. For example, legs 104 may be sufficiently rigid that four or less legs are capable of supporting statically (for example, when the device is at rest) the device without a substantial deformation of the legs 104 (for example, without causing the legs to deform so that the body of the device 100 moves more than 5% as a percentage of the height of the leg base 106b from the support surface).
[00057] As described here at a high level, many factors or characteristics can contribute to the movement and control of the device 100. For example, the center of gravity (CG) of the device and whether it is further forward or in the direction of rear of the device, can influence the tendency of the device 100 to turn. Furthermore, a lower CG can help prevent the device 100 from tipping over. The location and distribution of the legs 104 in relation to the CG can also prevent tipping. For example, if pairs or rows of legs 104 on each side of the device 100 are very close together and the device 100 has a relatively high CG (for example, in relation to the lateral distance between the rows or pairs of legs), then the device 100 may have a tendency to topple over on your side. Thus, in some implementations, the device includes rows or pairs of legs 104 that provide a wider lateral posture (for example, the pairs of front legs 104a, medium legs 104b, and rear legs 104c are spaced by a distance that defines an approximate width of the lateral posture) than a distance between the CG and a flat support surface on which the device 100 rests in a vertical position. For example, the distance between the CG and the support surface can be in the range of 50-80% of the value of the lateral posture (for example, if the lateral posture is 12.7 mm (0.5 inches), the CG may be in the range of 6.35-10.1 mm (0.25-0.4 inches) of surface 110). Furthermore, the vertical location of the CG of the device 100 can be within a range of 40-60% of the distance between a plane that passes through the leg tips 106a and the highest protruding surface on the upper side of the housing 102. In some implementations, a distance 409a and 409b (as shown in figure 4) between each row of leg tips 104 and a longitudinal geometric axis of the device 100 that runs through the CG can be approximately the same or less than the distance 406 (as shown in figure 4) between the ends 106a of two rows of legs 104 to help facilitate stability when the device is resting on both rows of legs.
[00058] Device 100 may also include features that generally compensate for the device's tendency to turn. The drive legs (for example, the front legs 104a can be configured so that one or more legs on one side of the device 100 can provide greater driving force than one or more corresponding legs on the other side of the device 100 (for example, through relative leg lengths, relative stiffness or resilience, relative front / rear location in the longitudinal direction, or relative lateral distance from the CG). Similarly, trailed legs (for example, the rear legs 104c can be configured to so that one or more legs on one side of the device 100 can provide greater drag force than one or more corresponding legs on the other side of the device 100 (for example, through relative leg lengths, relative stiffness or resilience , relative front / rear location in the longitudinal direction, or relative lateral distance from the CG). leg lengths can be tuned either during manufacture or subsequently to modify (for example, increase or decrease) a tendency of the device to turn.
[00059] The movement of the device can also be influenced by the leg geometry of the legs 104. For example, a longitudinal displacement between the leg tip (i.e., the end of the leg that touches the surface 110) and the leg base ( that is, the end of the leg that holds in the device housing) of any drive legs induces movement in a forward direction as the device vibrates. The inclusion of some curvature, at least in the drive legs, additionally facilitates forward movement as the legs tend to bend, moving the device forward when vibrations force the device down and then bounces back to a straighter configuration as vibrations force the device upward (for example, resulting in bouncing completely or partially off the surface, so that the leg tips move forward above or slide forward across the surface 110).
[00060] The ability of the legs to induce forward movement results in part from the ability of the device to vibrate vertically on the resilient legs. As shown in figure 1, device 100 includes a bottom side 122. The power supply and motor for device 100 can be contained in a chamber that is formed between the bottom side 122 and the top body of the device, for example. The length of the legs 104 creates a space 124 (at least in the vicinity of the drive legs) between the bottom side 122 and the surface 110 on which the device 100 operates. The size of the gap 124 depends on how far the legs 104 extend below the device in relation to the bottom side 122. The gap 124 provides a space for the device 100 (at least in the vicinity of the drive legs) to move downward according to the force periodic descending that results from the rotation of the eccentric load causes the legs to bend. This downward movement can facilitate forward movement induced by bending the legs 104.
[00061] The device may also include the ability to straighten itself, for example, if the device 100 falls over or is placed on its side or back. For example, constructing the device 100 so that the rotational geometric axis of the motor and the eccentric load is approximately aligned with the longitudinal CG of the device 100 tends to improve the tendency of the device 100 to roll (that is, in a direction opposite to the rotation of the device). motor and eccentric load. Furthermore, the construction of the device housing to prevent the device from resting on its upper part or side (for example, using one or more protuberances on the upper part and / or sides of the device housing) and increasing the tendency of the device to bounce when on its top or side can improve the tendency to roll. Furthermore, the construction of the legs of a sufficiently flexible material and providing a gap on the housing chassis so that the leg tips folding inward can help facilitate rolling the device from its side to an upright position.
[00062] Figure 1 shows a body shoulder 112 and a head side surface 114, which can be constructed of rubber, elastomer, or other resilient material, contributing to the device's ability to self-straighten after tipping. The heel of the shoulder 112 and the head side surface 114 can be significantly greater than the lateral heel achieved of the legs, which may be made of rubber or some other elastomeric material, but which may be less resilient than the shoulder. 112 and the head side surface 114 (for example, due to the relative lateral stiffness of the shoulder 112 and the head side surface 114 compared to the legs 104. The rubber legs 104, which can bend inwardly in the direction of the body 102 as the device 100 rolls over, the tendency towards self-straightening increases, especially when combined with the angular / rolling forces induced by the rotation of the eccentric load.The balance of the shoulder 112 and the head side surface 114 may also allow the device 100 is sufficiently in the air so that the angular forces induced by the rotation of the eccentric load cause the device to roll, thereby facilitating self-straightening. The.
[00063] The device may also be configured to include a degree of randomness of movement, which may cause the device 100 to appear to behave like an insect or other animated object. For example, the vibration induced by the rotation of the eccentric load can further induce jumping as a result of the curvature and "inclination" of the legs. The jump can further induce vertical acceleration (for example, moving away from the surface 110) and forward acceleration (for example, generally in the forward movement direction of the device 100). During each jump, the rotation of the eccentric load can also cause the device to turn towards one side or the other depending on the location and direction of movement of the eccentric load. The degree of random movement can be increased if relatively stiffer legs are used to increase the range of jump. The degree of random movement can be influenced by the degree to which the rotation of the eccentric load tends to be in phase or out of phase with the jump of the device (for example, a rotation out of phase with the jump can increase the randomness of movement) . The degree of random movement can also be influenced by the degree to which the hind legs 104c tend to drag. For example, dragging hind legs 104c on both side sides of the device 100 can keep the device 100 moving in a more straight line, while hind legs 104c that tend not to drag (for example, if the legs jump completely out of the rear legs 104c more on one side of device 100 than the other may tend to increase curves.
[00064] Another feature is the "intelligence" of device 100 which can allow the device to interact in an apparently intelligent way with obstacles, including, for example, jumping over any obstacles (eg walls, etc.) that the device 100 encounters during movement. For example, the shape of the nose 108 and the materials from which the nose 108 is constructed can improve a tendency for the device to bounce off obstacles and turn away from the obstacle. Each of these features can contribute to how the device 100 moves, and will be described in more detail below.
[00065] Figure 1 illustrates a nose 108 that can contribute to the ability of device 100 to deflect out of obstacles. A left nose side 116a and a nose side 116b can form the nose 108. The nose sides 116a and 116b can form a shallow tip or other shape that helps to make the device 100 deflect obstacles (for example, walls ) found as device 100 moves in a direction generally forward. Device 100 may include a space within the head 118 that increases the heel making the head more elastically deformable (i.e., reducing stiffness). For example, when device 100 noses an obstacle, the space inside the head 118 allows the head of the device 100 to compress, which provides greater control over the jump of the device 100 away from the obstacle than if the head 118 built as a block of more solid material. The space inside the head 118 can also better absorb the impact if the device falls from some height (for example, a table). The body shoulder 112 and the side head surface 114, especially when constructed of rubber or other resilient material, may also contribute to the device's tendency to deflect or jump over obstacles encountered at a relatively high angle of incidence. WIRELESS / REMOTE CONTROL MODES
[00066] In some implementations, device 100 includes a receiver that can, for example, receive commands from a remote control unit. The commands can be used, for example, to control the speed and direction of the device, and whether the device is in motion or in an immobile state, to mention a few examples. In some implementations, the controls on the remote control unit can couple and decouple the circuit that connects the power unit (for example, the battery) to the device's motor, allowing the remote control operator to turn the device 100 on and off at any time. time. Other controls (for example, a joystick, a slider, etc.) on the remote control unit can cause the engine on the device 100 to spin faster or slower, affecting the speed of the device 100. The controls can send to the receiver on the device 100 different signals, depending on the commands that correspond to the movement of the controls. The controls can also turn on and off a second motor attached to a second eccentric load on the device 100 to change the lateral forces for the device 100, thereby changing a tendency for the device 100 to turn and thus providing a steering control. Controls on a remote control unit can also cause the mechanisms in the device 100 to lengthen or shorten one or more of the legs and / or deflect one or more of the legs forward, backward, or laterally to provide directional control. LEG AND JUMP MOVEMENT
[00067] Figures 2A through 3B are diagrams that illustrate exemplary forces that induce the movement of the device 100 of figure 1. Some forces are provided by a rotational motor 202, which allows the device 100 to move autonomously across the surface 110. For For example, motor 202 can rotate an eccentric load 210 that generates moment and force vectors 205-215 as shown in figures 2A-3B. The movement of the device 100 may also depend in part on the position of the legs 104 with respect to the counterweight 210 attached to the rotary motor 202. For example, placing the counterweight 210 in front of the front legs 104a will increase the tendency of the front legs 104a to provide the strength primary forward drive (ie, focusing more of the upward and downward forces on the front legs). For example, the distance between counterweight 210 and the tips of the drive legs can be within a range of 20-100% of an average length of the drive legs. Moving the counterweight 210 backwards with respect to the front legs 104a can cause other legs to contribute more to the driving forces.
[00068] Figure 2A shows a side view of the exemplary device 100 shown in figure 1 and still presents a rotational moment 205 (represented by the rotational speed wm and the motor torque Tm) and a vertical force 206 represented by Fv. Figure 2B shows a top view of the exemplary device 100 shown in figure 1 and still shows a horizontal force 208 represented by Fh. Generally, a negative Fv is caused by the upward movement of the eccentric load as it spins, while a positive Fv can be caused by the downward movement of the eccentric load and / or the resilience of the legs (for example, as they jump back from a deflected position. .
[00069] The forces Fv and Fh cause the device 100 to move in a direction that is consistent with the configuration in which the leg base 106b is positioned in front of the leg tip 106a. The direction and speed in which the device 100 moves may depend, at least in part, on the direction and magnitude of Fv and Fh. When the vertical force 206, Fv, is negative, the device body 100 is forced downward. This negative Fv causes at least the front legs 104a to bend and compress. The legs usually compress along a line in the space from the tip of the leg to the base of the leg. As a result, the body will tilt so that the leg bends (for example, the leg base 106b flexes (or deflects) around the leg tip 106a towards surface 110) and causes the body to move forward ( for example, in a direction from the leg tip 106a towards the leg base 106b. The Fv, when positive, provides an upward force on the device 100 allowing the energy stored in the compressed legs to release (by lifting the device), and at the while allowing the legs to drag or jump forward to their original position. The lifting force Fv on the device that results from the rotation of the eccentric load combined with the spring-like leg forces are both involved in allowing the device to jump vertically off the surface (or at least reducing the load on the front legs 104a) and allowing the legs 104 to return to their normal geometry (that is, as a result of the resilience of the legs). release of leg forces like a spring, together with the forward moment created as the legs bend, propels the device forward and upward, based on the angle of the line connecting the leg tip to the leg base, lifting the front legs 104a off the surface 110 (or by reducing the load on the front legs 104a) and allowing the legs 104 to return to their normal geometry (i.e., as a result of the resilience of the legs).
[00070] Generally, two "drive" legs (for example, front legs 104a, one on each side) are used, although some implementations may include only one drive leg or more than two drive legs. Which legs make up the drive legs can, in some implementations, be relative. For example, even when only one drive leg is used, other legs can provide a small amount of forward driving forces. During forward movement, some legs 104 may tend to drag rather than jump. The jump refers to the result of the movement of the legs as they bend and compress and then return to their normal configuration - depending on the magnitude of the VF, the legs can either stay in contact with the surface or lift off the surface for a short period of time as the nose is raised. For example, if the eccentric load is located towards the front of the device 100, then the front of the device 100 may bounce slightly, while the rear of the device 100 tends to drag. In some cases, however, even with the eccentric load located towards the front of the device 100, even the rear legs 104c can sometimes bounce off the surface, although to a lesser extent than the front legs 104a. Depending on the stiffness or resilience of the legs, the speed of rotation of the rotational motor, and the degree to which a specific jump is in phase or out of phase with the rotation of the motor, a jump can vary in duration of less than time required for a full engine speed for the time required for multiple engine speeds. During a jump, the rotation of the eccentric load can cause the device to move laterally in one direction or the other (or both at different times during the rotation) depending on the direction of lateral rotation at any specific time and move up and down (or both at different times during rotation) depending on the direction of vertical rotation at any given time.
[00071] Increasing the jump time can be a factor in increasing speed. The longer the device spends with some of the legs off the surface 110 (or lightly touching the surface), the less time some of the legs are dragging (that is, creating a force opposite to the forward movement direction) as the device moves forward . Minimizing the time that the legs drag forward (as opposed to jumping forward) can reduce the drag caused by friction of the legs sliding along the surface 110. In addition, adjusting the CG of the device in front and behind can effect if the device jump with the front legs only, or if the device jumps with most, if not all, legs off the ground. This balance of the jump can take into account the CG, the mass of the displaced weight and its rotational frequency, Fv and its location, and the jumping forces and their location (s). DEVICE TURNING
[00072] The rotation of the motor also causes a lateral force 208, Fh, which generally moves back and forth as the eccentric load rotates. In general, the eccentric load rotates (for example, due to motor 202), the horizontal left and right forces 208 are equal. The turn that results from lateral force 208 on average typically tends to be greater in one direction (right or left) while the nose of the device 108 is elevated, and greater in the opposite direction when the nose of the device 108 and the legs 104 are compressed to low. During the time that the center of eccentric load 210 is moving upwards (away from surface 110), increased downward forces are applied to legs 104, causing legs 104 to grasp surface 110, minimizing the lateral turn of device 100, although the legs may bend slightly laterally depending on the stiffness of the legs 104. During the time when the eccentric load 210 is moving downwards, the downward force on the legs 104 decreases, and the downward force of the legs 104 on the surface 110 can be reduced, which can allow the device to turn sideways during the time that the downforce is reduced. The turning direction generally depends on the direction of the average lateral forces caused by the rotation of the eccentric load 210 during the time when the vertical forces are positive compared to when the vertical forces are negative. Thus, the horizontal force 208, Fh, can cause the device 100 to turn slightly more when the nose 108 is elevated. When the nose 108 is elevated, the leg tips are either off the surface 110 or less downward force is on the front legs 104a which prevents or reduces the ability of the leg tips (for example, the leg tip 106a) "to grip "the surface 110 and provide a lateral resistance for the turn. Features can be implemented to manipulate various movement features to either counteract or improve this tendency to turn.
[00073] The location of the CG can also influence a tendency to turn. Although some amount of turning by device 100 may be a desired characteristic (for example, to make the movement of the device appear random), an excessive turn may be undesirable. Several design considerations can be made to compensate (or in some cases take advantage of) the device's tendency to turn. For example, the weight distribution of the device 100, or more specifically, the CG of the device 100, can affect the tendency of the device 100 to turn. In some implementations, having the CG relatively close to the center of the device 100 and approximately centered around the legs 104 can increase a tendency for the device 100 to move in a relatively straight direction (for example, not rotating around).
[00074] Tuning the drag forces for the different legs 104 is another way to compensate for the tendency of the device to turn. For example, the drag forces for a specific leg 104 may depend on the length of the leg, the thickness, the stiffness and the type of material from which the leg is made. In some implementations, the stiffness of different legs 104 can be tuned differently, such as having different stiffness characteristics for the front legs 104a, the rear legs 104c and the middle legs 104b. For example, the stiffness characteristics of the legs can be changed or tuned based on the thickness of the leg or the material used for the leg. Increasing drag (for example, increasing leg length, thickness, stiffness, and / or friction characteristic) on one side of the device (for example, the right side) to compensate for a tendency for the device to turn (for example, to the left) based on the force Fh induced by the rotational motor and the eccentric load.
[00075] Changing the position of the rear legs 104c is another way to compensate for the tendency of the device to turn. For example, placing the legs 104 more towards the rear of the device 100 can help the device 100 move in a more straight direction. Generally, a longer device 100 has a relatively longer distance between the front and rear legs 104c may tend to move in a straighter direction than a device 100 that has a shorter length (i.e., the front legs 104a and the rear legs 104c are closest), at least when the rotating eccentric load is located in a relatively forward position on the device 100. The relative position of the rear legs 104 (for example, placing the rear leg on one side of the device further forward or backward on the device than the rearmost leg on the other side of the device) can also help to compensate (or alter) the tendency to turn.
[00076] Various techniques can also be used to control the direction of travel of the device 100, including changing the load on specific legs, adjusting the number of legs, leg lengths, leg positions, leg stiffness, and drag coefficients. As illustrated in Figure 2B, the lateral horizontal force 208, Fh, causes the device 100 to tend to turn as the lateral horizontal force 208 generally tends to be greater in one direction than the other during jumps. The horizontal force 108, Fh, can be counterbalanced to make the device 100 move in an approximately straight direction. This result can be achieved with leg geometry adjustments and leg material selection, among other things.
[00077] Figure 3A is a diagram showing a rear view of the device 100 and additionally illustrates the relationship of the vertical force 206 Fv and the horizontal force 208 Fh in relation to each other. This rear view also shows the eccentric load 210 which is rotated by the rotational motor 202 to generate the vibration. As indicated by the rotational moment 205. DRAGGING FORCES
[00078] Figure 3B is a diagram showing a bottom view of the device 100 and additionally illustrates the exemplary leg forces 211-214 that are involved with the direction of travel of the device 100. In combination, the leg forces 211-214 can induce velocity vectors that impact the predominant travel direction of the device 100. The velocity vector 215, represented by Tload, represents the velocity vector that is induced by the rotational motor speed / eccentricity (for example, induced by the stuck displaced load on the engine) as this forces the drive legs 104 to bend, causing the device to toss forward, and as it generates greater lateral forces in one direction than the other during the jump. The leg forces 211-214, represented by F1 - F4, represent the reactive forces of the legs 104a1 - 104c2, respectively, which can be oriented so that the legs 104a1 - 104c2, in combination, induce an opposite velocity vector in relation to Tload. As shown in figure 3B Tload is a velocity vector that tends to steer the device 100 to the left (as shown) due to the tendency for greater lateral forces in one direction than in the other when the device is bouncing off the surface 110. At the same time the forces F1 - F2 for the front legs 104a1 - 104a2 (for example, as a result of the legs tending to drive the device forward and slightly laterally towards the eccentric load 210 when the drive legs are compressed) and the forces F3 - F4 for the rear legs legs 104c1 - 104c2 (as a result of drag) each contributes to direct device 100 to the right (as shown). (As a clarification problem, as figure 3B shows the bottom view of the device 100, the left - right directions when the device 100 is placed vertically are reversed). In general, if the combined F1 - F4 forces approximately displace the lateral component of Tload, then device 100 will tend to travel in a relatively straight direction.
[00079] The control of F1 - F4 forces can be performed in a number of modes. For example, the "thrust vector" created by the front legs 104a1 and 104a2 can be used to counterbalance the lateral component of the motor-induced speed. In some implementations, this can be done by placing more weight on the front leg 104a2 to increase the leg strength 212, represented by F2, as shown in figure 3B. Furthermore, a "drag vector" can also be used to counterbalance the motor-induced speed. In some implementations, this can be done by increasing the length of the rear leg 104c2 or increasing the drag coefficient on the rear leg 104c2 for the force vector 804, represented by F4, in figure 3B. As shown, legs 104a1 and 104a2 are the right and left front legs of the device, respectively, and legs 104c1 and 104c2 are the right and left rear legs of the device, respectively.
[00080] Another technique to compensate for the tendency of the device to turn is to increase the stiffness of the legs 104 in various combinations (for example, by making one leg thicker than the other or by building a leg using a material that naturally has greater rigidity). For example, a more rigid leg will have a tendency to bounce more than a more flexible leg. The left and right legs 104 on any pair of legs may have different stiffnesses to compensate for the device 100 turning induced by engine vibration 202. Stiffer front legs 104a may also produce more jumps.
[00081] Another technique to compensate for the tendency of the device to turn is to change the relative position of the rear legs legs 104c1 and 104c2 so that the drag vectors tend to compensate for the turn induced by the motor speed. For example, the rear leg 104c2 can be placed more forward (for example, closer to the nose 108) than the rear leg 104c1. LEG SHAPE
[00082] The leg geometry contributes significantly to the way in which the device 100 moves. Aspects of leg geometry include: locating the leg base in front of the leg tip, the curvature of the legs, the deflection properties of the legs, the settings that result in different drag forces for different legs, including legs that are not necessarily they touch the surface, and having only three legs that touch the surface, to name a few examples.
[00083] Generally, depending on the position of the leg tip 106a in relation to the leg base 106b, the device 100 can experience different behaviors, including the speed and stability of the device 100. For example, if the leg tip 106a is approximately directly below the leg base 106b when the device 100 is positioned on a surface, the movement of the device 100 which is caused by the motor 202 can be limited or prevented. This is because there is little or no slope for the line in the space that connects the leg tip 106a and the leg base 106b. In other words, there is no "slope" on leg 104 between the leg tip 106a and the leg base 106b. However, if the leg tip 106a is positioned behind the leg base 106b (for example, furthest from the nose 108), then the device 100 can move faster as the slope or inclination of the legs 104 is increased, providing the motor 202 with a leg geometry that is more conductive for movement. In some implementations, different legs 104 (for example, which include different pairs, or left legs versus right legs) may have different distances between the leg tips 106a and the leg bases 106b.
[00084] In some implementations, legs 104 are curved (for example, leg 104a shown in figure 2A, and legs 104 shown in figure 1). For example, as the legs 104 are typically made of a flexible material, the curvature of the legs 104 can contribute to the forward movement of the device 100. Bending the leg can accentuate the forward movement of the device 100 by increasing the amount that the leg compresses. in relation to a straight leg. This increased compression can also increase the bounce of the device, which can also increase the tendency for random movement, giving the device an appearance of intelligence and / or an operation more similar to life. The legs also have some degree of thinning from the leg base 106b to the leg tip 106a, which can facilitate easier removal of a mold during the manufacturing process.
[00085] The number of legs can vary in different implementations. In general, increasing the number of legs 104 can have the effect of making the device more stable and can help reduce fatigue on legs that are in contact with surface 110. Increasing the number of legs can also affect the location of drag over device 100 if additional leg tips 106a are in contact with surface 110. In some implementations, however, some of the legs (for example, the middle legs 106b) can be at least slightly shorter than others so that these tend not to touch the surface 110 or contribute less to the total friction that results from the leg tips 106a touching the surface 110. For example, in some implementations, the two front legs 104a (for example, the "drive" legs and at least one of the rear legs 104c is at least slightly longer than the other legs. This configuration helps to increase speed by increasing the driving force in front of the legs the drive ones. In general, the remaining legs 104 can help prevent the device 100 from tipping by providing additional resilience if the device 100 begins to tilt towards one side or the other.
[00086] In some implementations, one or more of the "legs" can include any portion of the device that touches the ground. For example, device 100 may include a single rear leg (or multiple rear legs) constructed of a relatively inflexible material (for example, rigid plastic), which can resemble the front legs or form a sliding plate designed to simply drag as the front legs 104a provide a forward driving force. The oscillating oscillating load can repeat tens to several hundred times per second, which causes the device 100 to move in a generally forward motion as a result of the forward moment generated when Fv is negative.
[00087] Leg geometry can be defined and implemented based on the reasons for various leg measurements, including leg length, diameter, and radius of curvature. One reason that can be used is the ratio of the radius of curvature of the leg 104 to the length of the leg as an example only, if the radius of curvature of the leg is 49.14 mm and the length of the leg is 10.276 mm, then the reason is 4.78. In another example, if the radius of curvature of the leg is 50.8 mm (2 inches) and the length of the leg is 10.16 mm (0.4 inches), then the ratio is 5.0. Other lengths and radii of curvature of the leg 104 can be used to produce a ratio of the radius of curvature to the length of the leg that leads to proper movement of the device 100. In general, the ratio of the radius of curvature to the length of the leg can be in the range of 2.5 to 20.0. The radius of curvature can be approximately consistent from the leg base to the tip of the leg. This approximately consistent curvature may include some variation, however. For example, some thinning angle on the legs may be required during the manufacture of the device (for example, to allow the removal of a mold). Such a thinning angle can introduce slight variations in the total curvature that generally do not prevent the radius of curvature from being approximately consistent from the leg base to the leg tip.
[00088] Another reason that can be used to characterize device 100 is a ratio that relates leg length 104 to leg diameter or thickness (for example, as measured at the center of the leg or as measured based on a diameter of medium leg across the entire length of the leg and / or around the circumference of the leg). For example, leg length 104 can be in the range of 5.08 mm to 20.32 mm (0.2 inches to 0.8 inches) and can be proportional to (for example, 5.25 times) leg thickness in the range of 0.762 to 3.81 mm (0.03 to 0.15 inches) (for example, 1.956 mm (0.077 inches)). Put another way, legs 104 can be approximately 15% to 25% as thick as they are long, although greater or lesser thicknesses (for example, in the range of 5% to 60% of leg length) can be used . Leg lengths and thicknesses 104 may also depend on the total size of the device 100. In general, at least one drive leg can have a ratio of leg length to leg diameter in the range of 2.0 to 20.0 ( that is, in the range of 5% to 50% of leg length). In some implementations, a diameter of at least 10% of the length may be desirable to provide sufficient stiffness to support the weight of the device and / or to provide the desired movement characteristics. LEG MATERIAL
[00089] The legs are generally constructed of rubber or other flexible but resilient material (for example, polystyrene-butadiene-styrene with a hardness close to 65, based on the Shore A scale, or in the range 55-75, based on the Shore scale THE). Thus, the legs tend to deflect when a force is applied. Generally, the legs include sufficient rigidity and resilience to facilitate consistent forward movement as the device vibrates (for example, as the eccentric load 210 rotates). The legs 104 are also sufficiently rigid to maintain a relatively wide posture when the device 100 is upright and yet allow sufficient lateral deflection when the device 100 is on its side to facilitate self-straightening, as further described below.
[00090] The selection of leg materials can have an effect on how the device 100 moves. For example, the type of material used and its degree of resilience can affect the amount of bounce in the legs 104 that is caused by the vibration of the motor 202 and the counterweight 210. As a result, depending on the stiffness of the material (among other factors, including the position of leg tips 106b relative to leg bases 106A, the speed of device 100 may change. In general, the use of more rigid materials in legs 104 can result in more heel, while more flexible materials can absorb part of the energy caused by the vibration of the motor 202, which tends to decrease the speed of the device 100. FRICTION FEATURES
[00091] The frictional force (or drag) is equal to the friction coefficient multiplied by the normal force. Different friction coefficients and the resulting frictional forces can be used for different legs. As an example, to control speed and direction (for example, the tendency to turn, etc.), leg tips 106 can have varying friction coefficients (for example, using different materials) or drag forces (for example , varying the friction coefficients and / or the average normal strength for a specific leg). These differences can be obtained, for example, by the shape (for example, pointed or flat, etc.) of the leg tips 106a as well as the material from which they are made. Front legs 104a, for example, may have higher friction than rear legs 104c. The medium legs 104b can have an even different friction or can be configured so that they are shorter and do not touch the surface 110, and thus do not tend to contribute to the total drag. Generally, as the rear legs 104c (and the middle legs 104b in the degree that they touch the ground) tend to drag more than they tend to create a forward driving force, lower friction coefficients and lower drag forces for these legs can help to increase the speed of the device 100. Furthermore, to move the motor shape 215, which may tend to pull the device in a left or right direction, the left and right legs 104 may have different frictional forces. In total, the friction coefficients and the resulting frictional force of all legs 104 can influence the total speed of the device 100. The number of legs 104 in the device 100 can also be used to determine the friction coefficients to have in (or design on) each of the individual legs 104. As discussed above, the middle legs 104b do not necessarily need to touch the surface 110. For example, the middle legs (either front or rear) 104 can be built into the device 100 for aesthetic reasons, for example, to make the device 100 look more alive. , and / or increase device stability. In some implementations, devices 100 can be made in which only three (or a small number of) legs 104 touch the ground, such as two front legs 104a and one or two rear legs 104c.
[00092] Motor 202 is coupled to and rotates a counterweight 210, or eccentric load, which has a CG that is outside the geometric axis in relation to the rotational geometric axis of the motor 202. The rotational motor 202 and the counterweight 210, in addition to to be adapted to propel device 100, they can also cause device 100 to roll, for example, around the rotational axis of rotational motor 202. The rotational axis of motor 202 can have a geometric axis that is approximately aligned with a longitudinal CG of the device 100, which is also generally aligned with a direction of movement of the device 100.
[00093] Figure 2A also shows a battery 220 and a switch 222. Battery 220 can supply power to motor 202, for example, when switch 222 is in the "ON" position, thus connecting an electrical circuit that supplies electrical current. for motor 202. In the "OFF" position of switch 222, the circuit is interrupted, and no power reaches motor 202. Battery 220 can be located inside or above a battery compartment cover 224, accessible, for example, removing a screw 226, as shown in figures 2A and 3B. Placing the battery 220 and the key 222 partially between the legs of the device 100 can lower the CG of the device and help prevent tipping. Locating the lowest motor 202 within device 100 also reduces tipping. Having legs 104 on the sides of a device 100 provides space (for example, between legs 104) to house battery 220, motor 202 and key 222. The positioning of these components 202, 220 and 222 along the bottom side of device 100 (for example, rather than over the top of the device housing) effectively lowers the CG of device 100 and reduces its likelihood of tipping over.
[00094] The device 100 can be configured so that the CG is selectively positioned to influence the behavior of the device 100. For example, a lower CG can help prevent the device 100 from tipping over during its operation. As an example, tipping can occur as a result of device 100 moving at a high rate of speed and hitting an obstacle. In another example, tipping can occur if device 100 encounters a sufficiently irregular area of the surface on which it is operating. The CG of the device 100 can be selectively manipulated by placing the motor, key and battery in locations that provide a desired CG, for example, one that reduces the likelihood of inadvertent tipping. In some implementations, the legs may be configured so that they extend from the tip of the leg 106a below the CG to a leg base 106b that is above the CG, allowing the device 100 to be more stable during its operation. The components of the device 100 (e.g., engine, key, battery, and housing) can be located at least partially between the legs to maintain a lower CG. In some implementations, the device components (for example, engine, key and battery) may be arranged or aligned close to the CG to maximize the forces caused by the engine 202 and the counterweight210. SELF-RIGHTS
[00095] Self-straightening, or the ability to return to an upright position (for example, standing on legs 104), is another feature of device 100. For example, device 100 may occasionally topple or fall (for example, fall table or step). As a result, device 100 may end on its top or side. In some implementations, self-straightening can be performed using the forces caused by motor 202 and counterweight 210 to cause the device 100 to roll back over its legs 104. Achieving this result can be helped by locating the CG of the nearest device the rotational geometric axis of the motor to increase the tendency for the entire device 100 to roll. This self-straightening generally provides to roll in the direction that is opposite to the rotation of the motor 202 and the counterweight 210.
[00096] As long as a sufficient rolling trend level is produced based on the rotational forces that result from the rotation of the motor 202 and the counterweight 210, the outer shape of the device 100 can be designed so that the bearing tends to occur only when the device 100 is on its right side, upper side, or left side. For example, the lateral spacing between the legs 104 can be made wide enough to discourage rolling when the device 100 is already in the vertical position. Thus, the shape and position of the legs 104 can be designed so that when self-straightening occurs and the device 100 again reaches its vertical position after tipping or falling, the device 100 tends to remain vertical. Specifically, by maintaining a flat and relatively wide posture in an upright position, vertical stability can be increased, and by introducing features that reduce flatness when not in an upright position, the ability to self-straighten can be increased.
[00097] To help roll from the top of the device 100, a high point 120 or a protrusion (for example, appendix 105) can be included on the top of the device 100. The high point 120 or another protrusion can prevent the device rest flat on its top. In addition, the high point 120 or other protrusion can prevent Fh from becoming parallel to the force of gravity, and as a result, Fh can provide sufficient moment to roll the device, allowing the device 100 to roll to a vertical position or at least to the side of the device 100. In some implementations, the high point 120 or other protuberance can be relatively rigid (for example, a relatively hard plastic), while the upper surface of the head 118 can be constructed of a more rigid material. resilient that encourages jumping. The bounce of the head 118 of the device when the device is on its back can facilitate self-straightening by allowing the device 100 to roll due to the forces caused by the motor 202 and the counterweight 210 as the head 118 jumps off the surface 110.
[00098] Rolling the side of the device 100 to an upright position can be facilitated using legs 104 which are sufficiently flexible in combination with the space 124 (for example, under device 100) for lateral leg deflection to allow the device 100 roll to a vertical position. This space can allow legs 104 to bend during rolling, facilitating a smooth transition from side to bottom. The shoulders 112 of the device 100 can also decrease the tendency of the device 100 to roll on its side over its back, at least when the forces caused by the motor 202 and the counterweight 210 are in a direction that opposes the side-to-back bearing. . At the same time, the shoulder on the other side of the device 100 (even with the same configuration) can be designed to prevent the device 100 from rolling over your back when the forces caused by the motor 202 and the counterweight 210 are in a direction that encourage rolling in that direction. Furthermore, the use of a resilient material for the shoulder can increase the bounce, which can also increase the tendency to self-straighten (for example, allowing the device 100 to bounce off the surface 110 and allowing the counterweight forces to roll the device while in the air). Self-straightening of the side can be further facilitated by adding appendages along the side (s) of the device 100 which further separate the rotational geometric axis from the surface and increase the forces caused by the motor 202 and counterweight 210.
[00099] The position of the battery on the device 100 can affect the device's ability to roll and straighten. For example, the battery may be oriented on its side, positioned on a plane that is both parallel to the direction of movement of the device or perpendicular to the surface 110 when the device 100 is vertical. Positioning the battery in this mode can facilitate reducing the overall width of the device 100, including the lateral distance between the legs 104, making the device 100 more likely to be able to roll.
[000100] Figure 4 shows an exemplary front view that indicates a center of gravity (CG) 402, as indicated by a large plus sign, for device 100. This view illustrates a longitudinal CG 402 (ie, a location of a longitudinal geometric axis of the device 100 that runs through the device CG). In some implementations, the device components are aligned to place the longitudinal CG close to (for example, within 5-10%, as a percentage of the device's height) the device's physical longitudinal centerline, which can reduce momentum of the device's rotational inertia, thereby increasing or maximizing the forces on the device as the rotational motor rotates the eccentric load. As discussed above, this effect increases the tendency of the device 100 to roll, which can improve the self-straightening ability of the device. Figure 4 also shows a space 404 between the legs 104 and the bottom side 122 of the device 100 (which includes the battery compartment cover 224), which can allow the legs 104 to fold inward when the device is over your hand, thereby facilitating the self-straightening of the device 100. Figure 4 also illustrates a distance 406 between the pairs or rows of legs 104. Increasing the distance 406 can help prevent the device 100 from tipping over. However, keeping the distance 406 low enough, combined with the flexibility of the legs 104, can improve the ability of the self-straightening device after tipping over. In general, to prevent tipping, the distance 406 between the pairs of legs needs to be increased proportionally as the GC 402 is raised.
[000101] Device high point 120 is shown in figure 4, although high point 120 generally has a limited effect in the presence of the upper ascending appendage 105. The size and height of high point 120 (in the absence of the ascending appendage upper 105) or the upper ascending appendix 105 may be large enough to prevent the device 100 from simply lying flat on your back after tipping over, yet small enough to help the device roll and force the device 100 off your back after tipping over. A higher or higher high point 120 can sometimes be combined with "pectoral fins" or other protuberances to increase the "roundness" of the device.
[000102] The tendency to roll of device 100 may depend on the general shape of device 100. For example, a device 100 which is generally cylindrical, specifically along the top of device 100, can roll relatively easily. However, rolling may also occur when the device 100 includes the upper ascending appendix 105, at least if the device 100 is adapted to jump or otherwise jump far enough off a surface to roll on one side of the ascending appendage top 105 to the other side. Thus, even if the upper part of the device is not round, as is the case for the device shown in figure 4 which includes straight upper sides 407a and 407b, the geometry of the upper part of the device 100 can still facilitate rolling. This bearing capacity is especially true if the distances 408 and 410 are relatively equal and each approximately defines the radius of the generally cylindrical shape of the device 100. The distance 408, for example, is the distance from the longitudinal CG 402 of the device to the part upper shoulder 112. The distance 420 is the distance from the longitudinal CG 402 of the device to the high point 120. Also, having a surface length 407b (that is, between the upper part of the shoulder 112 and the high point 120) which is shorter than the distances 408 and 410 can also increase the tendency of the device 100 to roll. Furthermore, if the longitudinal CG 402 of the device is positioned relatively close to the center of the cylinder that approximates the general shape of the device 100, then the bearing of the device 100 is further improved, since the forces caused by the motor 202 and the counterweight 210 are generally more focused. The device 100 can stop rolling once the rolling action places the device 100 on its legs 104, which provides a wide posture and serves to interrupt the generally cylindrical shape of the device 100.
[000103] Figure 5 shows an exemplary side view that indicates a center of gravity (CG) 502, as indicated by a large plus sign, for device 100. This view also shows a geometric motor axis 504 which, in this example, aligns closely with the longitudinal component of the CG 502. The location of the CG 502 depends, for example, on the mass, thickness, and distribution of the materials and components included in the device 100. In some implementations, the CG 502 may be more forward or backward from the location shown in figure 5. For example, the CG 502 may be located towards the rear end of key 222 instead of towards the front end of key 222 as illustrated in figure 5. In general, the CG 502 of the device 100 can be far enough behind the front drive legs 104a and the rotating eccentric load (and far enough in front of the rear legs 104c) to facilitate forward jumping o and the rear drag, which can increase traction forward and provide a controlled tendency to go straight (or turn if desired) during jumps. For example, the CG 502 may be positioned approximately halfway (for example, in the range of approximately 40-60% of the distance) between the front drive legs 104a and the rear trailing legs 104c. Also, the alignment of the motor geometric axis with the longitudinal CG can improve the forces caused by the motor 202 and the counterweight. In some implementations, the longitudinal component of the CG 502 may be close to the center of the height of the device (for example, within approximately 3% of the CG as a proportion of the height of the device). Generally, configuring the device 100 so that the CG 502 is closer to the center of the height of the device will improve the rolling tendency, although greater distances (for example, within approximately 5% or within approximately 20% of the CG as a proportion of the height of the device) are acceptable in some implementations. Similarly, configuring the device 100 so that the CG 502 is within approximately 3-6% of the motor axis 504 as a percentage of the height of the device can also improve the rolling tendency.
[000104] Figure 5 also shows an approximate alignment of battery 220, key 222 and motor 202 with the longitudinal component of CG 502. Although a slide switch mechanism 506 that operates the on / off switch 222 is suspended below the bottom side of the device 100, the approximate total CG alignment of the individual components 220, 222 and 202 (with each other or with the CG 502 of the total device 100) contributes to the ability of the device 100 to roll, and thus straighten up. Specifically, motor 202 is centered primarily along the longitudinal component of CG 502.
[000105] In some implementations, the high point 120 may be located behind the CG 502, which can facilitate self-straightening in combination with the eccentric face attached to the motor 202 being positioned close to the nose 108. As a result, if the device 100 is on your side or back, the nose end of the device 100 tends to vibrate and bounce (more than the tail end of the device 100), which facilitates self-straightening as the forces of the motor and the eccentric load tend to cause the device scrolls.
[000106] Figure 5 also shows sample dimensions of the device 100. For example, a distance 508 between the CG 502 and a plane that passes through the leg tips 106a on which the device 100 rests when vertical when on a flat surface. 110 can be approximately 9.144 mm (0.36 inches). In some implementations, this distance 508 is approximately 50% of the total height of the device (see figures 7A & 7B), although other distances 508 can be used in various implementations (for example, approximately 40-60%). A distance 510 between the rotational axis 504 of the motor 202 and the same plane that passes through the leg tips 106a is approximately the same as the distance 508, despite variations (for example, 8.636 mm (0.34 inches) for distance 510 versus 9.144 mm (0.36 inches) for distance 508) can be used without materially impacting the desired functionality. Larger variations (for example, 1.27 mm (0.05 inches) or even 2.54 mm (0.1 inches) can be used in some implementations.
[000107] A distance 512 between the leg tip 106a of the front drive legs 104a and the leg tip 106a of the rearmost leg 104c can be approximately 21.59 mm (0.85 inches), although several implementations can include other values of distance 512 (for example, between approximately 40% and approximately 75% of the length of device 100). In some implementations, locating the front drive legs 104a behind the eccentric load 210 can facilitate forward drive motion and movement randomness. For example, a distance 514 between a longitudinal centerline of the eccentric load 210 and the tip 106a of the front leg 104a can be approximately 9.144 mm (0.36 inches). Again, other distances 514 can be used (for example, between approximately 5% and approximately 30% of the length of the device 100 or between approximately 10% and approximately 60% of the distance 512). A distance 516 between the front of the device 100 and the CG 502 can be approximately 24.13 mm (0.95 inches). In several implementations, the distance 516 can vary from approximately 40-60% of the length of the device 100, although some implementations may include low mass front or rear protrusions that increase the length of the device but do not significantly impact the location of the CG 502 (that is, therefore causing the CG 502 to fall outside the 40-60% range).
[000108] Figure 9A shows an exemplary environment 900 in which device 100 can operate and ascend within a 901 conduit. The conduits may be substantially level or inclined, or may include combinations of inclined and level areas. The conduits can allow the device 100 to move at any angle, including an inverted position. In the example shown in figure 9A, environment 900 includes an arena 902 in which one or more devices 100 can operate. Arena 902 includes an opening 904 that leads to a connection path 906 within which device 100 is shown. Connection path 906 is connected to conduit 901 in the direction that device 100 is pointed in this illustration (for example, based on the position of the head and tail of device 100). Sections of environment 900, which include a curved path 910 and other sections not shown in figure 9A, may be connected at connection points 912. For example, connection points 912 may comprise interlocking parts (for example, tongue and groove ) of various sections and / or components of environment 900 (for example, connection path 906 and conduit 901), although other means for connecting sections of environment 900 may be used.
[000109] Conduit 901 can be entirely or substantially closed. For example, in addition to conduit 901 having a floor surface that can serve as a leg surface 104, a ceiling surface can exist that is opposite and substantially parallel to the floor surface. The floor surface and the ceiling surface are interchangeable since the device 100 can move upside down or upside down inside any conduit or pipe. The ceiling surface, for example, can be a surface that is contacted by the upper ascending appendix 105 as the device 100 travels through the conduit 901. The conduit 901 can also include opposite wall surfaces (or partial wall surfaces) as which can, in combination with the floor surface and the ceiling surface, serve to contain device 100 as it travels through conduit 901. Other surface configurations can be used. The ascent by the device 100 occurs as the vibration induced by the vibration mechanism causes the legs 104 and one or more appendages of the upper ascension 105 to flex flexively by pushing the device 100 forward (for example, into a tube). While the device 100 moves forward, the legs 104 and one or more appendages of the upper ascension 105 maintain substantially constant contact with the substantially parallel surfaces (e.g., the floor surface and the ceiling surface). Device 100 can lose contact with any surface for a small percentage of the time, but movement by device 100 is generally maintained in the forward direction. As a result, device 100 can rise through any suitable tube that is sized so that legs 104 and one or more top rise appendages 105 contact the floor and ceiling surfaces to cause the device to move forward . Ascent by device 100 can occur at any angle and orientation of device 100. For example, device 100 can rise directly upward or at any angle upward, device 100 can also descend at any angle, or it can rise substantially horizontally. Device 100 can be upside down or upside down and still go up and down. When the device 100 is descending, sufficient drag is provided by the legs 104 and the one or more appendages of higher ascension 105 in order to provide a controlled descent.
[000110] During operation of device 100, for example, as device 100 travels through conduit 901, legs 104 and upper ascending appendix 105 (or lateral ascending appendages 105a and 105b) are subject to or produce forces that cause device 100 to rise. For example, forces include a resulting force in a direction usually defined by a displacement between the appendix bases and the appendix tips of the two or more appendages. As a result, device 100 rises when the resulting force exceeds an opposite gravitational force on device 100. Specifically, the forces exerted by the legs 104 and the upper rise appendages 105 (or the side rise appendages 105a and 105b) (for example, example, as device 100 vibrates up and down and / or from side to side) provides a ratchet effect, allowing device 100 to rise between substantially vertical opposing surfaces (for example the floor surface and the ceiling surface) . The ratchet effect can result from the legs 104 bending and the upper ascending appendages 105 (or the lateral ascending appendages 105a and 105b) sliding forward as the center of gravity of the device 100 moves towards the floor surface (i.e., the surface that the legs 104 are contacting) and the upper ascending appendages 105 (or the lateral ascending appendages 105a and 105b) folding and the legs 104 sliding forward as the center of gravity of the device 100 moves towards the ceiling surface (that is, the surface that the top rise appendages 105 (or the side rise appendages 105a and 105b) are contacting).
[000111] Figure 9B shows the exemplary environment 900 in which device 100 rose in and almost at the top of conduit 901. Since no other section is attached to the end of conduit 901 in this illustration, when device 100 reaches the open end of conduit conduit 901, the device 100 may fall on the table or the floor on which the room 900 is located. In some implementations, other sections of environment 900 may be included, for example, to provide continuity for device 100 after it has completed its ascent through conduit 901.
[000112] In some implementations, the speed of the device 100 can be controlled or at least influenced by the inclination of the conduit 901 or the materials from which it is made. In some implementations, a gap between each surface (for example, the ceiling surface) and the corresponding appendix (s) (for example, the top rise appendage 105) can also affect the speed of device 100. For example , the faster speed of device 100 can be achieved when the clearance provides an amount of oscillation space for device 100 that generally minimizes any backward forces caused by drag relative to forward forces induced by vibration, for example, allowing for an effect efficient ratchet (and thus a faster rate of rise). In some implementations, different clearances can be used for different sections of conduit 901 that have different slopes or different radii of curvature. For example, clearances can be graduated to match the slope.
[000113] Figure 9C shows an exemplary loop loop 950 in the form of a double loop. For example, device 100 can enter loop conduit 950 at an entrance 952. While traveling through loop conduit 950, device 100 can make two 360-degree loops before exiting a 954 terminal end of the loop conduit 950. In some implementations the device 100 may be twisted, or move in a corkscrew way through the 950 loop duct. For example, substantially parallel ceiling and floor surfaces can twist to cause the device 100 twist as it moves along the parallel surfaces. As an alternative, grooves (or some other changes in shape) that are built inside the 950 loop duct can affect the corkscrew movement (for example, guiding the top rise appendages 105 or the side rise appendages 105a and 105b through a sprain).
[000114] In some implementations, two or more appendages may be stuck inside the conduit (for example, as "conduit appendages"), and may contact the body of the device 100. For example, conduit 901 may include, within its internal surfaces (for example, on the ceiling surface) multiple duct appendages as shown in figure 9D. In some implementations, the ends of the conduit appendages may contact the upper edge of the device 100 as it moves through the conduit 901. For example, the conduit appendages may be arranged so that the tips are in the forward direction relative to the bases. appendix. In some implementations, the conduit appendages may be spaced, for example, at substantially uniform intervals, so that at least one conduit appendage is adjacent to the top edge of the device 100 at all times, and thus able to contact the device 100 during the vibrations of the device. In this way, the conduit appendages are adapted to allow the device 100 to ascend a vertical conduit (for example, conduit 901). In some implementations, rows of conduit appendages can be used, for example, to contact the upper part of the device 100 in different positions laterally. The conduit appendages can have different elasticities than the appendages that are on the device 100 itself.
[000115] In some implementations, two or more ascending appendages may be attached to device 100. For example, the conduit (conduit 901), the body of the device, and two or more ascending appendages may be configured so that each of the two or more ascending appendages repeatedly contacts an internal surface of the conduit, where the contact is for sufficient periods of time to produce a generally forward motion. In some implementations, at least one of the ascending appendages is substantially continuously in contact with an internal conduit surface. For example, when the ascending appendages include one or more upper ascending appendages 105, the inner contact surface of the conduit 901 is the ceiling surface. In another example, when the ascending appendages include one or more lateral ascending appendages 105a-105b, the inner contact surfaces of the conduit 901 may include the sidewall surfaces.
[000116] When two or more appendages (for example, ascent appendages) are attached to device 100 the vibration of device 100 causes at least one of the two or more ascent appendages to deflect in a direction opposite to the forward direction (this that is, as the vibration causes the device 100 to move towards a surface that the specific ascension appendix contacts). For example, deflection occurs without substantially sliding the at least one appendage onto a corresponding inner surface (eg, the ceiling surface) when the resulting forces on the at least one appendage are toward the corresponding inner surface (eg, towards the ceiling surface). At the same time, the resilience of at least one ascending appendage causes the at least one ascending appendage to deflect in the forward direction when the resulting forces on the at least one ascending appendage are away from the corresponding inner surface (e.g. the ceiling surface). Device 100 may be configured such that forward deflection generally produces insufficient backward forces to overcome the forward forces produced by one or more appendages on the opposite side of device 100.
[000117] In some implementations, additional or alternative appendices can be used. Figures 15A-15D illustrate an alternative embodiment of a vibration-powered device 1500. Figure 15A is a side view of the alternative vibration-powered device 1500. Figure 15B is a top view of the alternative vibration-powered device 1500. Figure 15C is a front view of the alternative vibration powered device 1500. Figure 15D is a side view of the alternative vibration powered device 1500 as it moves through an exemplary curved upward conduit 1520. Figures 15A-15C include exemplary dimensions (for example , in millimeters) to show an example of the relative dimensions of the components. Device 1500 includes appendices 1505, 1510, and 1515. In the embodiment illustrated in figures 15A-15D, device 1500 includes double primary upper ascending appendages 1505a and 1505b, although only one primary upper ascending appendage 1505 can be used (for example, similar to the upper ascending appendix 105 located towards the front of the device 100 as shown in figure 7B). Device 1500 also includes a secondary upper rise appendage 1510 located behind the primary rise appendages 1505a and 1505b. The secondary upper ascension appendage 1510 can help maintain forward movement. In some embodiments, the secondary upper rise appendage 1510 may come into contact with an upper inner surface 1530 of a curved duct 1520 only (or may only contribute to forward movement) when making tight turns. The primary upper ascending appendages 1505a and 1505b are located towards the front of the device 1500 at a location that is significantly towards the front of the device 1500 from a midpoint between the first and the last legs 104. When navigating a curve to tight up, the midpoint between the front and rear legs 104 tend to align with the center of the upward curve. The primary upper ascending appendages 1505a and 1505b can therefore lose contact with the upper inner surface 1530 when the bend radius is sufficiently tight. The tip of the secondary upper ascending appendix 1510 can be located close to the center line between the front and rear legs 104, and can therefore maintain continuous or substantially continuous contact with the upper inner surface 1530 and help maintain forward movement. Additional secondary front legs 1515, which can only come into contact with a lower inner surface 1525 of the conduit 1520 in relatively tight upward curves, can also contribute to forward movement. RANDOMIC MOVEMENT
[000118] Introducing features that increase the randomness of movement of device 100, device 100 may appear to behave in an animated mode, such as a crawling beetle or other organic life form. Random movement can include inconsistent movements, for example, instead of movements that tend to be straight lines or continuous circles. As a result, device 100 may appear to roam around its vicinity (in an erratic or serpentine pattern) rather than moving in predictable patterns. Random movement can occur, for example, even while device 100 is moving in a general direction.
[000119] In some implementations, randomness can be achieved by changing the stiffness of the legs 104, the material used to make the legs 104, and / or by adjusting the inertial load on several legs 104. For example, as the leg stiffness is reduced , the amount of device bounce can be reduced, thereby reducing the appearance of a random movement. When legs 104 are relatively rigid, legs 104 tend to induce jumping, and device 100 can move in a more inconsistent and random motion.
[000120] Although the material that is selected for the legs 104 can influence the leg stiffness, it can also have other effects. For example, leg material can be manipulated to attract dust and debris at or near leg tips 106a, where legs 104 contact surface 110. This dust and debris can cause device 100 to turn at random and change its movement pattern. This may be because dust and debris can alter the friction characteristics typical of the legs 104.
[000121] The inertial load on each leg 104 can also influence the randomness of movement of the device 100. As an example, as the inertial load on a specific leg 104 is increased, this portion of the device 100 may bounce at a higher amplitude, causing the device 100 to land in different locations.
[000122] In some implementations, during a jump and while at least some legs 104 of the device 100 are in the air (or at least applying less force to surface 110), motor 202 and counterweight 210 can cause some level of turning and / or mid-air rotation of the device 100. This can provide the effect of the device landing or jumping in unpredictable ways, which can additionally lead to a random movement.
[000123] In some implementations, an additional random movement may result from locating the front drive legs 104a (ie, the legs that primarily propel the device 100 forward, behind the engine counterweight. This can cause the front of the device 100 tends to move in a less straight direction because the counterweight is farther from the legs 104 than it would otherwise tend to absorb and control its energy. An exemplary lateral distance from the center of the counterweight to the tip of the first leg of 9, 14 mm (0.36 inches) compared with an exemplary leg length of 10.16 mm (0.40 inches). Generally, the distance 514 from the longitudinal centerline of the counterweight to the tip 106a of the front leg 104a can be approximately the same as the leg length but the distance 514 can vary in the range of 50-150% of the leg length.
[000124] In some implementations, additional appendages can be added to legs 104 (and housing 102) to provide resonance. For example, flexible protrusions that are constantly moving in this way can contribute to the randomness of total movement of the device 100 and / or the appearance as life of the device 100. The use of appendages of different sizes and flexibilities can amplify the effect.
[000125] In some implementations, the battery 220 may be positioned close to the rear of the device 100 to increase the jump. Doing this places the weight of the battery 220 on the rear legs 104, reducing the load on the front legs 104a, which may allow more jumping on the front legs 104a. In general, battery 220 may tend to be heavier than key 222 and motor 202, so placing the battery closer to the rear of device 100 can raise the nose 108, allowing device 100 to move faster.
[000126] In some implementations, the on / off switch 222 may be oriented along the underside of the device 100 between the battery 220 and the motor 202 so that the switch 222 can be moved backwards and forwards laterally. Such a configuration, for example, helps to facilitate reducing the total length of the device 100. Having a shorter device can improve the tendency for random movement. MOVEMENT SPEED
[000127] In addition to random movement, the speed of device 100 can contribute to the appearance as life of device 100. Factors affecting speed include the frequency and amplitude of vibration that are produced by motor 202 and counterweight 210, materials used to make the legs 104, the leg length and deflection properties, the differences in leg geometry, and the number of legs.
[000128] The frequency of vibration (based on the speed of motor rotation) and the speed of the device are generally directly proportional. That is, when the oscillatory frequency of the motor 202 is increased and all other factors are kept constant, the device 100 will tend to move faster. An exemplary oscillatory frequency of the engine is in the range 7000 to 9000 rpm.
[000129] Leg material has several properties that contribute to speed. The frictional properties of leg material influence the magnitude of drag force on the device. As the friction coefficient of the legs increases, the total drag of the device will increase, causing the device 100 to slow down. As such, the use of leg material that has properties that promote low friction can increase the speed of the device 100. In some implementations, polystyrene-butadiene-styrene with a hardness close to 65 (for example, based on the Shore A scale ) can be used for legs 104. Leg material properties also contribute to leg stiffness which, when combined with leg thickness and leg length, determines how much heel a device 100 will develop. As the total leg stiffness increases, the device speed will increase. Longer and thinner legs will reduce leg stiffness, thus slowing the device down. INTELLIGENCE APPEARANCE
[000130] An "intelligent" response to obstacles is another feature of device 100. For example, "intelligence" can prevent a device 100 that comes into contact with an immovable object (for example, a wall) from pushing futilely against the object. "Intelligence" can be implemented using mechanical design considerations only, which can avoid the need to add electronic sensors, for example. For example, curves (for example, left or right) can be induced using a nose 108 that introduces a deflection a jump in which a device 100 that encounters an obstacle immediately turns to a close incident angle.
[000131] In some implementations, adding "bounce" to device 100 can be performed through design considerations of the nose and legs 104, and the speed of the device 100. For example, nose 108 may include a feature such as spring. In some implementations, nose 108 can be manufactured using rubber, plastic or other materials (for example, polystyrene-butadiene-styrene with a hardness close to 65, or in the range 55-75 based on a Shore A scale). The nose 108 may have a pointed, flexible shape that deflects inwardly under pressure. The design and configuration of the legs 104 may allow low resistance to turning during a nose jump. The balance achieved by the nose can be increased, for example, when the device 100 has a higher speed and moment.
[000132] In some implementations, the resilience of the nose 108 may be such that it has an additional benefit of dampening a fall if the device 100 falls off a surface 110 (e.g., a table) and falls on its nose 108. ALTERNATIVE LEG AND APPENDIX CONFIGURATIONS
[000133] Figure 6 shows an exemplary device 100 that includes a pair of lateral ascending appendages 105a and 105b. For example, the side ascending appendages 105a-105b may be similar to the upper ascending appendix 105 shown in figure 1 and may serve a similar function, that of providing device 100 with the ability to ascend. Specifically, two or more side rising appendages (for example, side rising appendages 105a-105b) may work with each other and / or with legs 104 to allow device 100 between substantially inclined or vertical surfaces (for example , a slope of 45 degrees or greater), such as surfaces within a conduit or pipe. For example, the vertical surfaces can be spaced so that the appendix tips of the lateral ascending appendages 105a-105b and / or the appendix tips of the legs 104 apply alternating forces on substantially opposite surfaces on which the lateral ascending appendages 105a -105b and / or legs 104 contact.
[000134] In some implementations the side ascending appendages 105a-105b may have an upward slope (i.e., up and away from housing 102), as shown in figure 6. As an example, the upward slope may allow the device 100 and its appendices fit into certain conduit geometries (for example, including the conduit cross-section pipe shape or if the conduit cross-section shape (for example, a U-shape or other mainly non-rectangular shape) is not completely vertical, for example, the upward slope (as opposed to the side ascending appendages 105a and 105b that project directly outward, parallel to the surface) can help prevent the device 100 from falling towards or on your back. , the upward slope may provide at least some force as opposed to the force generated by the legs 104 contacting a surface.
[000135] In other words, if the conduit has a substantially round or oval cross-section, then the legs 104 of the device can contact the interior of the conduit, centered between the 7 o'clock and 5 o'clock positions, and the lateral ascending appendages 105a -105b somewhere above the 9 o'clock and 3 o'clock positions. By comparison, when a single appendage of higher ascension 105 is used, it can be substantially in the 12 o'clock position. In some implementations, however, the side rise appendages 105a and 105b can be substantially opposite, for example, at the 9 o'clock and 3 o'clock positions.
[000136] During the vibration of the device 100, the tips of the legs 104 can apply forces to a surface (not necessarily level) (for example, in relation to the appendix tips of the legs 104). Specifically, the appendix tips, constructed of a material that has a coefficient of friction to provide sufficient grip during compression and a sufficient heel to allow a return to a neutral position, can work to propel the device 100 in a forward direction (for example, to climb a slope within the duct). At the same time, the appendix tips of the lateral ascending appendages 105a-105b can contact surfaces that are substantially perpendicular to the appendix tips. Similarly, propulsion facilitated by an appropriate friction coefficient of the appendix tips of the side ascending appendages 105a-105b can further propel device 100 in the forward direction (for example, to raise a slope within the conduit). The various surfaces on which the opposite appendage tips contact can be substantially parallel to each other, for example, the inner walls of the conduit through which the device 100 can rise.
[000137] In some implementations, grooves and / or ridges built inside the conduit may be in alignment with the appendix tips of the lateral ascending appendages 105a-105b, for example, helping to keep the device 100 in position in relation to the conduit . In some implementations, spiral patterns can be used inside the conduits so that a device 100 that enters the conduit on one level can twist a total of 180 degrees to turn device 100 over its legs when device 100 reaches a level different. For example, the surface within the conduit on which the appendix tips of the legs 104 contact may have a slight twist (for example a 90 degree twist for each 90 degree arc of the conduit), and slight substantially parallel twists can be included. for the grooves and / or ridges (or surfaces) on which the appendix tips of the lateral ascending appendages 105a-105b contact.
[000138] In some implementations, device 100 may have alternative leg configurations. For example, legs 104 can be connected using webs that can serve to increase the rigidity of legs 104 while maintaining legs 104 that appear long. In some implementations, the medium legs 104b may not touch the ground, which can make tuning the production of the legs easier by eliminating unnecessary legs from consideration. In some implementations, devices 100 may include additional appendages that can provide an appearance as an additional life. In some implementations, additional life appendages may resonate as the devices 100 move, and adjusting the appendages to create a desired resonance can serve to increase randomness in motion. Additional leg configurations can provide reduced stiffness that can reduce heel, among other features.
[000139] In some implementations, devices 100 may include adjustment features, such as adjustable legs 104. For example, if a consumer purchases a set of devices 100 that all have the same style (for example, an ant), the consumer may want to make some or all of the devices 100 move in variable modes. In some implementations, the consumer may lengthen or shorten an individual leg 104 by first loosening a screw (or clamp) that holds leg 104 in place. The consumer can then slide leg 104 up or down and retighten the screw (or clamp). For example, the screws can be loosened to reposition the legs 104, and then tightened again when the legs are in the desired location.
[000140] In some implementations, threaded ends such as screws on the leg bases 106b together with corresponding threaded holes in the device housing 102 can provide an adjustment mechanism to make the legs 104 longer or shorter. For example, by rotating the front legs 104a to change the vertical position of the leg bases 106b (that is, in the same way that turning a screw into a threaded hole changes the position of the screw), the consumer can change the length of the front legs 104a, thereby altering the behavior of device 100.
[000141] In some implementations, the leg base ends 106b of adjustable legs 104 can be mounted inside holes in the housing 102 of the device 100. The material (e.g., rubber) of which the legs are constructed together with the size and the material of the holes in the housing 102 can provide sufficient friction to hold the legs 104 in position, while still allowing the legs to be pushed or pulled through the holes to new adjusted positions.
[000142] In some implementations, in addition to using the adjustable legs 104, variations in movement can be achieved by slightly changing the CG, which can serve to alter the effect of the vibration of the motor 202. This can have the effect of making the device move slower or faster, as well as changing the device's tendency to turn. Providing the consumer with adjustment options may allow different devices 100 to move differently. DEVICE DIMENSIONS
[000143] Figures 7A and 7B show exemplary dimensions of the device 100. For example, a length 702 is approximately 43.942 mm (1.73 inches), a width 704 from tip to leg is approximately 12.7 mm (0.5 inches), and a 706 height is approximately 17.297 mm (0.681 inches). A leg length 708 can be approximately 10.16 mm (0.4 inches), and a leg diameter 710 can be approximately 1.956 mm (0.077 inches). A radius of curvature (shown generally at 712) can be approximately 49.276 mm (1.94 inches). Other dimensions can also be used. In general, device length 702 may be in the range of two to five times width 704 and height 706 may be in the range of approximately one to two times width 704. Leg length 708 may be in the range of three to ten times the leg diameter 710. There is no physical limit to the total size that the device 100 can scale, as long as the motor and counterweight forces are scaled appropriately. In general, it can be beneficial to use dimensions substantially proportional to the dimensions illustrated. Such proportions can provide several benefits, including improving the ability of the device 100 to straighten after tipping over and facilitating desirable movement characteristics (e.g., tendency to move in a straight line, etc.). CONSTRUCTION MATERIALS
[000144] The selection of material for the legs is based on several factors that affect performance. The main material parameters are the friction coefficient (COF), flexibility and resilience. These parameters in combination with the shape and length of the leg affect the speed and the ability to control the direction of the device.
[000145] COF can be significant in controlling the direction and movement of the device. The COF is usually high enough to provide resistance to lateral movement (for example, floating or drifting) while the device is moving forward. Specifically, the COF of the leg tips (i.e., the portion of the legs that contacts a support surface, may be sufficient to substantially eliminate fluctuation in a lateral direction (i.e., substantially perpendicular to the direction of movement) that could otherwise result in vibration induced by the eccentric rotating load COF can also be high enough to prevent significant sliding to provide forward motion when Fv is down and the legs provide forward thrust, for example, as the legs bend towards the rear of the device 100 (for example, away from the direction of movement) due to the resulting downward force on the one or more drive legs (or other legs) induced by the rotation of the eccentric load, the COF is sufficient to prevent sliding between the tip of the leg and the support surface. In another situation, the COF may be low enough to allow slide (contacting the ground) back to its normal position when Fv is positive. For example, the COF is low enough that, as the resulting forces on the device 100 tend to cause the device to bounce, the resilience of the legs 104 causes the legs to tend to return to a neutral position without inducing a sufficiently opposite force to the direction of movement to overcome each or both of a frictional force between one or more of the other legs (for example, the rear legs 104c) in contact with the support surface or the moment of the device 100 resulting from the forward movement of the device 100. In some cases, the one or more drive legs 104a may leave (i.e., bounce completely off) the support surface, which allows the drive legs to return to a neutral position without generating a backward frictional force . Nevertheless, the drive legs 104a may not leave the support surface each time the device 100 jumps and / or the legs 104 may start to slide forward before the legs leave the surface. In such cases, the legs 104 can move forward without causing significant backward force that exceeds the forward moment of the device 100.
[000146] Flexibility and resilience are generally selected to provide a desired leg movement and jump. The flexibility of the leg can allow the legs to bend and compress when Fv is down and the nose moves down. The resilience of the material can provide the ability to release the energy absorbed by the bending and compression, increasing the speed of movement forward. The material can also prevent plastic deformation while flexing.
[000147] Rubber is an example of a type of material that can meet these criteria, however, other materials (for example, other elastomers) may have similar properties.
[000148] Figures 7C and 7D collectively show an example of a removable fixable appendage of device 100. Some implementations of device 100, for example, may include the upper ascending appendage 105 (or some other removable fixable appendage). Appendices can be attached (or refixed) as needed, such as when device 100 is to be used in environments where device 100 can rise with the aid of ascending appendages. Some implementations of removable fixable attachments may include a compression fitting 720 which is fixedly attached to the upper riser appendage 105 in some implementations, the compression fitting 720 may include two teeth that can slide into a perforated flap 722 and can fit in place using cut edges or some other mechanism. Referring to figure 7D, the upper ascending appendix 105 is shown to fit in place within the perforated flap 722, and the device 100 is configured to rise.
[000149] Figures 7E and 7F show another example of removable fixable appendage for device 100. For example, a removable upper ascend appendage fixture 740 may include the upper ascend appendage 105 which is fixedly attached to a mounting clip 742 In some implementations, mounting clip 742 may include two downward projecting ends, each of which can mount within a body cutout 744 (for example, one on each side of device 100). Referring to figure 7F, the upper riser appendage fixture 740 is shown secured in place on the device 100. For example, the ends of the mounting clip 742 are shown occupying the body cutouts 744, and the central portion of the mounting clip 742 crosses the width of the device 100. Other implementations of attachment of appendages are also possible. For example, a snap-on wrap that includes top and / or side appendages and that engages a larger portion of the body shoulder 112 of the device 100 than the mounting clip 742 can be used.
[000150] Figure 8 shows exemplary materials that can be used for device 100. In the exemplary implementation of device 100 shown in figure 8, legs 104 are molded from rubber or another elastomer. Legs 104 can be injection molded so that multiple legs are integrally molded substantially simultaneously (for example, as part of the same mold). Legs 104 can be part of a continuous or integral rubber piece that also forms nose 108 (including nose sides 116a and 116b), body shoulder 112, and head side surface 114. As shown, the piece integral rubber extends above the body shoulder 112 and the lateral head surface 114 to the 802 regions, partially covering the upper surface of the device 100. For example, integral rubber portion of the device 100 can be formed and secured (i.e., co-molded during the manufacturing process) on a plastic upper part of the device 100, exposing areas of the upper part that are indicated by the plastic regions 806, so that the body forms an integrally co-molded part. The high point 120 is formed by the uppermost plastic regions 806. One or more rubber regions 804, separated from the continuous rubber piece that includes the legs 104, can cover portions of the plastic regions 806. In general, the rubber regions 802 and 804 may have a different color than the 806 plastic regions, which can provide a visually distinctive appearance for the device 100. In some implementations, the patterns formed by the various 802-806 regions can form patterns that make the device look like a beetle or another animated object. In some implementations, different patterns of materials and colors can be used to make the device 100 look like different types of beetles or other objects. In some implementations, a tail (for example, made of cord, can be attached to the rear end of the device 100 to make the device appear to be a small rodent.
[000151] The selection of materials used (for example, elastomer, rubber, plastic, etc.) can have a significant effect on the ability of the self-straightening device. For example, the rubber legs 104 can fold inward when the device 100 is rolling during the time it is self-straightening. Furthermore, the rubber legs 104 may have sufficient resilience to bend during the operation of the device 100, including flexing in response to the movement of (and forces created by) the eccentric load rotated by the motor 202. Furthermore, the tips of the legs 104 , also being made of rubber, can have a coefficient of friction that allows the drive legs (e.g., the front legs 104) to push against the surface 110 without a significant slip.
[000152] Using the rubber for nose 108 and shoulder 112 can also help device 100 to self-straighten. For example, a material such as rubber, which has a higher elasticity and resilience than hard plastic, for example, can help the nose 108 and shoulder 112 to jump, which facilitates self-straightening, reducing rolling resistance. while device 100 is in the air. In one example, if device 100 is placed on your side while motor 202 is running, and if motor 202 and eccentric load are positioned close to nose 108, the rubber surfaces of nose 108 and shoulder 112 can make at least the nose of the device 100 to bounce and lead to the self-straightening of the device 100.
[000153] In some implementations, the one or more rear legs 104c may have a different friction coefficient than that of the front legs 104a. For example, legs 104 can generally be made of different materials and can be attached to device 100 as different parts. In some implementations, the rear legs 104c can be part of a single molded rubber piece that includes all legs 104, and the rear legs 104c can be changed (for example, dipped in a liner) to change their friction coefficient) .
[000154] Although this specification contains many specific implementation details, these should not be considered as limitations on the scope of any inventions or what can be claimed, but rather as descriptions of specific characteristics for specific modalities of specific inventions. Certain characteristics that can be described in this specification in the context of separate modalities can also be implemented in combination in a single modality. On the contrary, several characteristics that are described in the context of a single modality can also be implemented in multiple modalities separately or in any suitable subcombination. Furthermore, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features of a claimed combination may in some cases be extracted from the combination, and the claimed combination may be directed to a subcombination or a variation of a subcombination. Other alternative modalities can also be implemented. For example, some implementations of device 100 may omit the use of rubber. some implementations of the device 100 may include components (for example, made of plastic) that include glow-in-the-dark qualities so that the device 100 can be seen in a darkened room as it moves across surface 110 (for example, a floor of kitchen). Some implementations of device 100 may include a light (e.g., an LED lamp) that flashes intermittently as device 100 travels across surface 110.
[000155] Figure 10A is a flow chart of a process 1000 for operating a vibration powered device 100 (e.g., a device that includes any appropriate combination of the features described above). In various embodiments, different subsets of the characteristics described above may be included.
[000156] Initially, a vibration-powered device is placed on a substantially flat surface or another surface (for example, formed so that multiple legs of the device contact the surface) in 1005. The device's vibration is induced in 1010 to cause the forward movement. For example, vibration can be induced using a rotational motor (for example, powered by battery or rope) that rotates a counterweight. Vibration can induce movement in a direction that corresponds to a displacement between the leg bases and the leg tips of one or more drive legs (that is, the forward direction). Specifically, this vibration can cause the resilient legs to bend in one direction in 1015, as the resulting downward forces cause the device to move downwards. This bending, together with the use of a material with a sufficiently high friction coefficient to prevent sliding, can cause the device to generally move forward.
[000157] As the vibration causes resulting upward forces (for example, due to the sum of vectors of forces induced by the rotating counterweight and the spring effect of the resilient legs) that cause the drive legs to leave the surface or come close to leaving the surface, the tips of one or more drive legs move in a downward direction (that is, the deflector leg in the forward direction to return to a neutral position) in 1020. In some implementations, the one or more drive legs can leave the surface at variable intervals. For example, the drive legs may not leave the surface each time the resulting forces are upward because the forces may not be able to overcome a downward moment from a previous jump. In addition, the amount of time the drive legs leave the surface can vary for different heels (for example, depending on the height of the heel, which in turn can depend on the degree to which the counterweight rotation is in phase with the leg thrust).
[000158] During the forward movement of the device, different drag forces on each side of the device can be generated in 1025. Generally, these different drag forces can be generated by rear legs that tend to drag (or at least drag more than the front drive legs) and change the turning characteristics of the device (for example, to counteract or improve turning trends). Typically, legs can be arranged in (for example, two) rows along each side of the device, so that one or more of the legs in a row drag more than the corresponding legs in another row. Different techniques to make the device generate these different drag forces are described above.
[000159] If the device capsizes, a rolling of the device is induced by the rotation of the counterweight and causes the device to tend to straighten independently. As discussed above, the external shape of the device along the longitudinal dimension (for example, substantially parallel to the geometric axis of rotation and / or the direction of general forward movement of the device) can be modeled to promote rolling (for example, emulating longitudinal "roundness"). The rolling of the device can also be stopped by a relatively large expansion between the rows of legs in 1035. Specifically, if the legs are wide enough in relation to the device's COG, the rotational forces generated by the rotating counterweight are generally insufficient (with forces missing) to make the device roll from the vertical position.
[000160] In 1040, the resilience of the device's nose can induce a jump when the device encounters an obstacle (for example, a wall). This tendency to jump can facilitate changing directions to turn away from an obstacle or towards a higher angle of incidence, specifically when combined with a pointed shaped nose as discussed above. The resilient nose can be constructed of an elastomeric material and can be integrally molded together with the lateral shoulders and / or the legs using the same elastomeric material. Finally, lateral fluctuation can be suppressed in 1045 on the basis of a sufficiently high friction coefficient at the leg ends, which can prevent the legs from tending to slide laterally as the rotating counterweight generates lateral forces.
[000161] Figure 10B is a flow chart of a process 1050 for the vibration powered device 100 to rise. For example, device 100 may include any appropriate combination of the features described above (for example, appendices that contact substantially opposite surfaces. In various embodiments, different subsets of the features described above can be included. Process 1050 can be used in combination with process 1000 (see figure 10A), for example, when device 100 operates and transacts between substantially flat areas that can facilitate random movement to other areas that include ducts or other devices into which device 100 can rise.
[000162] Initially, a vibration-powered device is introduced into a substantially inclined (and at least partially closed) conduit in 1055. As an example, the conduit may be conduit 901 shown in figure 9A. Device 100 can enter conduit 901, for example, after the device completes its path through connection path 906. In another example, the conduit can be conduit loop 950 shown in figure 9C, and device 100 can enter in loop conduit 950 at entrance 952. Other implementations may use conduits that have other shapes.
[000163] The vibration of the device is induced to alternately cause movement in the direction of each of two or more appendages arranged in different directions in 1060. For example, as device 100 enters the conduit (for example, conduit 901 or loop conduit 950), the vibration induced by the alternating rotating eccentric load causes movement towards the legs 104 and the upper ascending appendage 105 (or the lateral ascending appendages 105a-105b). The appendages of the device 100 are arranged in different directions because the legs 104 generally project downward from the device 100, and the upper rise appendage 105 (or the side rise appendages 105a-105b) projects upward (or substantially laterally) relative to to device 100.
[000164] Vibration provides substantially opposite forces on the appendages in 1065. Each opposite force is in a direction that is substantially orthogonal to the forward direction. For example, vibration results in an orthogonal leg force that causes legs 104 to contact and compress against the surface of the duct, such as the floor surface of duct 901. Like vibration (and the resilient forces of legs 104) subsequently causes the device 100 to move in the opposite direction, the vibration results in an orthogonal ascending appendage force which causes the upper ascending appendage 105 to contact and compress against the ceiling surface with an opposite force. Alternating and opposing forces can occur in rapid succession and are generally orthogonal to the direction of movement of the device (for example, the direction of movement through conduit 901 or loop conduit 950).
[000165] The device is deflected in the forward direction using resistance to movement by the appendages in the backward direction in 1070. For example, in addition to the orthogonal forces induced by the rotating eccentric load, additional force components provide for the forward movement of the device. Specifically, the leg tips 104 and the upper rise appendage 105 (or the side rise appendages 105a-105b have friction coefficients that allow the ends to "grip" the conduit surfaces to prevent the device 100 from sliding back.
[000166] The device is raised using the opposing forces and the deflection of the appendages in 1075. For example, the alternating handle by the legs 104 and the ascending appendix (s) allows the device 100 to have a ratchet movement between the parallel surfaces of the conduit, resulting in device 100 rising through the conduit.
[000167] Figure 11 is a flow chart of a process 1100 for constructing a vibration powered device 100 (e.g., a device that includes any appropriate combination of the features described above). Initially, the device chassis is molded in 1105. The device chassis can be the bottom side 122 shown in figure 1 can be constructed from a hard plastic or other relatively hard or rigid material, despite the type of material used for the bottom side is generally not specifically critical to the operation of the device. An upper housing is also molded in 1110. The upper housing may include a relatively hard portion of the upper body portion of housing 102 shown in Figure 1, including the high point 120.
[000168] The upper shell is co-molded with an elastomeric body at 1115 to form the upper device body. The elastomeric body may include a single integrally formed part that includes appendages (for example, legs 104), shoulders 112 and nose 108. Co-molding of a hard top shell and a more resilient elastomeric body can provide better buildability ( for example, the hard portion can make it easier to secure to the device chassis using screws or posts), provide more longitudinal rigidity, can facilitate self-straightening (as explained above), and can provide legs that facilitate jumping, forward movement, and the turning adjustments. In some implementations, appendages that are integrally molded with the resilient elastomeric body may include one or more upper ascending appendages 105 and / or one or more lateral ascending appendages (for example, lateral ascending appendages 105a-105b), or their combinations. In implementations in which appendages such as ascension appendages 105, 105a and 105b can be removably secured, the body can be shaped to include perforated flap 722, body notches 744, or other features useful for attaching appendages.
[000169] The housing is mounted in 1120. The housing generally includes a battery, a key, a rotary motor, and an eccentric load, all of which can be enclosed within the device chassis and upper body. HABITATS
[000170] Figure 12A shows an exemplary tube habitat 1200 within which multiple devices 100 can operate and interact. In this example, tube habitat 1200 includes three arenas 1202a-1202c, each of which can be hexagonally formed as shown. As shown in figure 12A, arenas 1202a-1202c are at three different elevations and are substantially level and parallel to each other, but other configurations are possible. Arena 1202a is the uppermost of the three arenas, with arena 1202c at the bottom and arena 1202b substantially in the middle.
[000171] Arenas 1202a-1202c are connected with 1204a-1204e tube assemblies of various lengths, shapes, and configurations. For example, tube assemblies 1204a and 1204c each connect arena 1202a to arena 1202c. Similarly, tube assemblies 1204b and 1204d each connect arena 1202a to arena 1202b. Finally, the tube assembly 1204e connects the arena 1202c to itself via a loop in the tube assembly 1204e that passes over the top of the arena 1202b. Connections between arenas 1202a-1202c and tube assemblies 1204a-1204e are made in door openings along the sides of arenas 1202a-1202c. Closed doors, where tube assemblies 1204a-e are not connected in arenas 1202a-1202c, can prevent devices 100 from leaving tube habitat 1200 during operation. In some implementations, tube assemblies 1204a-e can be assembled using the components and tube connectors described below with reference to figures 13A-13W and 14A-14H. Other tube set configurations are possible, including solid piece tube sets and / or tube sets using components not described in figures 13A-13W and 14A-14H.
[000172] Figure 12B shows a view of the upper part of the tube habitat 1200. This view shows more clearly both side sides of the tube assembly 1204e. Ports 1208 are shown in an open state.
[000173] Several connectors can be used to connect the components of the tube habitat 1200. For example, a type of connector 1206a (for example, refer to figures 14E-H) can connect any of the various types of tube to any of the arenas 1202a-1202c. A second type of connector 1206b (for example, refer to figures 14A-D) can connect a pair of tubes.
[000174] Figures 13A through 13D show several views of an exemplary straight tube assembly 1300. Specifically, figure 13A is a top view, figure 13B is a perspective view, figure 13C is a side view, and figure 13D is a front view. Figures 13B and 13D show an opening 1302 through which the device 100 can travel, for example, across the length of the straight tube assembly 1300. In some implementations, the straight tube assembly 1300 may be wide enough so that two lanes exist, allowing two devices 100 to pass. The lanes are not formal lanes or lanes defined as such, but aperture 1302 has a width that is equal to or greater than twice the width of device 100 (at its widest point). In fact, two devices 100 can essentially meet face to face within the straight tube assembly 1300 (and other tube sets described in this document), and the two devices 100 can resolve their encounter, deflect each other, and continue forward.
[000175] In some implementations, the straight tube assembly 1300 may include ridges 1304 (or other characteristics) which can facilitate proper placement of the connectors. For example, the connectors, as described in detail below, can connect the straight tube assembly 1300 to another tube assembly to another component used in a habitat for device 100 (for example, tube habitat 1200). In some implementations, the connectors can couple with the ridges 1304, such as mounting on the top of the set 1300 and touching the 1304 ridge. Thus, the ridges 1304 are stop points, for example, providing a stop for a sliding connector over the end of the straight tube assembly 1300.
[000176] In some implementations, the straight tube assembly 1300 is made of two pieces (for example, substantially two halves) that are joined at 1306 seams. In some implementations, the straight tube assembly 1300 is manufactured as a single piece.
[000177] Figures 13E through 13G show exemplary dimensions of the straight tube assembly 1300. The dimensions of the device 100 are also shown, as these dimensions are related to the dimensions of the straight tube assembly 1300. Figures 13E through 13G show views top, side and front, respectively, of device 100 with its rear end within straight tube assembly 1300.
[000178] Referring to figure 13E, a distance from nose to ascending appendage 1310 (for example, 15 mm) defines the distance from nose 108 to the front of ascending appendix 105. Referring to figure 13F, an elevation of ascending appendix 1312 (for example, 22 mm) defines the elevation of the upper part of the ascending appendix 105 in relation to the upper parts of the legs 104. Referring to figure 13G, a tube width 1314 (eg 30 mm) and a tube height 1316 (for example, 20 mm) define the internal width and height, respectively, of the straight tube assembly 1300. In some implementations, the tube width 1314 and the tube height 1316 can be used in other components, for example, others straight tube sets (for example, of different lengths), curved sets, and / or sets of other shapes or configurations. A leg offset dimension 1318 (for example, 14 mm) is included here to show the relative width of the device 100 at its widest point, for example, the outer edges of its legs 104. For example, as the offset dimension of 14 mm exemplary leg 1318 is less than half the width of 30 mm exemplary tube 1314, ample horizontal space exists within the straight tube assembly 1300 for two devices 100 to pass through.
[000179] Figures 13H through 13K show several views of an exemplary curved tube assembly 1322. Specifically, figure 14H is a side view, figure 13I is a rear view, figure 13J is a bottom view, and figure 13K it is a perspective view. Referring to figure 13H, device 100 can enter curved tube assembly 1322 through a front opening 1324 in front of curved tube assembly 1322. Figure 13K shows an opening 1326 from which device 100 can exit curved tube assembly 1322 after entering the front opening 1324 and climbing through the tube. Devices 100 can move in any direction through the curved tube assembly 1322.
[000180] The curved tube set 1322 can have the same or similar internal dimensions as the straight tube set 1300 (for example, a width of 30 mm and a height of 20 mm). As a result, when the curved tube assembly 1322 is connected to other components such as the straight tube assembly 1300, device 100 can expect a substantially smooth transition at the connection points. In addition, the curved tube assembly 1322 is wide enough for two devices 100 to pass through.
[000181] In some implementations, the curved tube assembly 1322 can include 1328 ridges (or other characteristics), which can facilitate a fitting fit with the connectors. For example, the connectors, as described in detail below, can connect the curved tube assembly 1322 to another tube assembly or another component used in a habitat for device 100 (for example, tube habitat 1200).
[000182] Figures 13L through 13Q show several views of an exemplary Y-shaped tube assembly 1334. Specifically, figure 13L is a side view, figure 13M is a front view, figure 13N is a perspective view, figure 13O is a bottom view, figure 13P is a side sectional view, and figure 13Q is a perspective sectional view.
[000183] Y-shaped tube assembly 1334 includes a flap 1336 at the intersection of a straight section 1338 and a curved section 1340. Flap 1336 can control the direction of movement by devices 100 within the Y-shaped tube assembly 1334. Referring to figures 13P and 13Q, flap 1336 is shown closed, for example, suspended in a downward position, substantially parallel to straight section 1338. When flap 1336 is closed, devices 100 can move directly down or to upwards through the straight section 1338, and the device 100 that moves upwards cannot enter the curved section 1340. The flap 1336 is suspended below its connection point on a hinge pin 1342, on which the flap 1336 can be articulate.
[000184] When flap 1336 is closed, a device 100 that moves downward through the curved section 1340 can open flap 1336. Nose 108 or other parts of device 100 can push flap 1336 open. At this time, the lower part of the flap 1336 can contact the straight section 1338 substantially close to a position 1344 on the straight section 1338. The lower part of the curved section 1340 is formed in such a way that, when the flap 1336 is open and extends to position 1344, the distance between flap 1336 and a substantially parallel portion of the curved section 1340 is substantially uniform (e.g., approximately 20 mm). This distance is consistent with the internal height (for example, 20 mm) of the rest of the Y-shaped tube assembly 1334, which allows device 100 to remain in substantially continuous contact with the surfaces of the Y-shaped tube assembly 1334. Thus, the forward progress of device 100 is essentially continuous, although not necessarily at a constant speed.
[000185] In some implementations, after one or more devices 100 couple and then pass through the flap 1336, gravity can cause the flap 1336 to return to its closed or down position. In some implementations, during the short time that the flap 1336 is open, a device 100 that moves upwards through the straight section 1338 can enter the curved section 1340.
[000186] Figures 13R through 13W show several views of an exemplary 1350 loop tube assembly. Specifically, figure 13R is a side view, figure 13S is a front view, figure 13T is a perspective view, figure 13U is a bottom view, figure 13V is a side sectional view, and figure 13W is a perspective sectional view. In this example, the 1350 loop tube assembly provides a loop-in-loop feature. For example, a device 100 that enters either end (for example, opening 1352) will complete the loop and exit the opposite end (for example, opening 1354).
[000187] The 1350 loop tube set includes tabs 1356 and 1358 that allow the 1350 loop tube set to be bidirectional. An interconnection section 1360 attached to the flaps 1356 and 1358 causes the flaps 1356 and 1358 to move substantially in unison, for example, the movement of one in reaction to the movement of the other. In some implementations, the 1360 interconnection section may include multiple (for example, three) interconnected articulated levers. For example, when a device 100 enters the looped tube assembly 1350 at opening 1352 and pushes flap 1356 upwards (if it is already upwards), interconnection section 1360 causes flap 1358 to fall. The flap 1358 thus diverts the device 100 into the circular part of the loop tube assembly 1350. Then when the device 100 has practically completely navigated the circular part, the device 100 contacts and pushes down the flap 1356. Simultaneously, the stuck interconnect 1360 causes flap 1358 to rise, allowing device 100 to pass under flap 1358 and exit loop tube assembly 1350 at opening 1354. A similar sequence of events occurs if device 100 enters tube assembly in loop 1350 through opening 1354.
[000188] In some implementations, a user can use interconnection section 1360 and / or other controls to control the operation of flaps 1356 and 1358. In this way, the user can control the direction of movement of devices 100 within the tube assembly in 1350 loop. For example, user controllable buttons or other controls may be attached to the 1360 interconnection section.
[000189] In some implementations, the interconnection section 1360 may include attached arms that are substantially perpendicular to the levers of the interconnection section 1360. The arms may mount through slots 1362 to couple the flaps 1356 and 1358, for example, along the bottom sides of flaps 1356 and 1358.
[000190] In some implementations, two devices 100, moving in opposite directions, can be inside the looped tube assembly 1350 at the same time. If the two devices 100 are inside the circular part, for example, whichever device 100 reaches its respective flap 1356 or 1358 first will be the first to exit the loop tube assembly 1350. In some situations, a device 100 it can be temporarily delayed on either tab 1356 or 1358 while the other device 100 passes underneath in the opposite direction.
[000191] Figures 14A through 14D show several views of an exemplary connector 1400. Specifically, Figure 14A is a top view, Figure 14B is a perspective view, Figure 14C is a front view, and Figure 14D is a side view. The connector 1400 can be used to connect a pair of tubes such as any two combinations of tubes 1300, 1322, 1334 and 1350 described above with reference to figures 13A-13W. Connector 1400 includes sections 1402a, 1402b and 1404. Sections 1402a and 1042b are identical, making connector 1400 symmetrical and interchangeable, allowing any section 1402a or 1402b to be attached to any of tubes 1300, 1322, 1334 and 1350. Section 1404 has the same height and width dimensions as tubes 1300, 1322, 1334 and 1350. In some implementations, connector 1400 can be used as connector 1206b described above with reference to figures 12A and 12B. Other types of connectors can be used in other implementations.
[000192] Figures 14E through 14H show several views of another exemplary connector 1410. Specifically, Figure 14E is a top view, Figure 14F is a perspective view, Figure 14G is a front view, and Figure 14H is a side view. The connector 1410 can be used to connect an arena (for example, one of the arenas 1202a-c) to any of the tubes 1300, 1322, 1334 and 1350 described above with reference to figures 13A-13W. The connector 1410 can also be used to connect a pipe to other types of components that have a locking flap connection 1412.
[000193] Thus, specific modalities of the subject have been described. Other modalities are within the scope of the following claims.

权利要求:
Claims (18)
[0001]
1. Apparatus (100) comprising: a body (102) having an upper part and a lower part; a vibration mechanism coupled to the body (102); and a plurality of appendages (104) each having an appendix base (104b) close to the body (102) and an appendix tip (104a) distant from the body (102), in which the plurality of appendages (104a) is constructed of a resilient material and has resilient characteristics configured to cause the apparatus (100) to move across a surface (110) in a forward direction and further configured to cause a portion of the plurality of appendages (104) to leave the surface (110) as the apparatus moves in the forward direction generally defined by a longitudinal deviation between the appendix base (104b) and the appendix tip (104a) as the vibration mechanism causes the apparatus (100) vibrate; wherein a first appendix (105), of the plurality of appendages (104), extends from the body (102) so that a first appendage tip defined in the first appendix (105) is positioned above the upper body portion ( 102), and where the first appendix (105) is a non-rotating vibrating appendage, and a second appendix (104), of the plurality of appendages (104), extends from the body (102) so that a second tip of appendix defined in the second appendix (104) is positioned below the lower portion of the body (102) so that the first (105) and second appendages (104) are configured to make contact with different surfaces that rest on different planes, so that the first non-rotating vibratory appendage (105) and the second appendix (104) are configured to apply forces against two planes that rest differently on the surface to produce a resulting force in a direction generally defined by longitudinal deviation so that and the resulting force moves the apparatus (100) in the forward direction between the two planes that rest differently on the surface; the apparatus (100) being characterized by the fact that each appendix (104, 105) has a diameter comprised between 5% to 60%, preferably between 15% and 25% of an appendix length (104) between the appendix base ( 104b) and the appendix tip (104a).
[0002]
Apparatus (100) according to claim 1 characterized by the fact that the first (105) and the second (104) appendages are configured to extend outside the body (102) so that the first and the second appendix tips are adapted to make contact with opposite surfaces that are substantially parallel to each other.
[0003]
Apparatus (100) according to claim 1 characterized by the fact that the first (105) and the second (104) appendages are configured to extend outside the body (102) so that the first and second appendix tips are adapted to make contact with at least two opposite surfaces arranged in a substantially closed conduit (901).
[0004]
Apparatus (100) according to claim 1 characterized by the fact that the resulting force in a direction generally defined by a deviation between the appendix base and the appendix tip exceeds an opposite gravitational force on the apparatus (100) .
[0005]
Apparatus (100) according to claim 1 characterized by the fact that the first (105) and the second (104) appendages, as a result of contact with a corresponding surface, produce a resulting force that includes a component force positive in a direction substantially perpendicular to the corresponding surface and a positive component force in a direction generally defined by a longitudinal deviation between the appendix base and the appendix tip.
[0006]
Apparatus (100) according to claim 5 characterized by the fact that the positive component force in the direction substantially perpendicular to the corresponding surface for the first (105) and second (104) appendages is substantially opposite to the positive component force in the direction substantially perpendicular to the corresponding surface for at least one other appendix to the first (105) and second (104) appendages.
[0007]
Apparatus (100) according to claim 1, characterized in that the different surfaces are arranged in substantially opposite directions.
[0008]
Apparatus (100) according to claim 1 characterized by the fact that the first (105) and second (105) appendages are two legs (104), and the at least two legs (104) are adapted to allow the apparatus (100) rises between substantially vertical surfaces that are spaced so that the appendix tips (104a) of the at least two legs (104) apply alternating forces on the opposite surfaces.
[0009]
9. Apparatus (100) according to claim 1 characterized by the fact that the appendages (104) are arranged in two rows, with the appendix base (104b) of the legs (104) in each row coupled to the body (102 ) substantially along a lateral edge of the body (102).
[0010]
Apparatus (100) according to claim 1 characterized by the fact that at least one of the two or more appendages (104), including one or more of the first (105) and second (104) appendages, is fixed in a way removable to the body (102).
[0011]
Apparatus (100) according to claim 1, characterized in that the vibration mechanism includes a rotary motor (202) that rotates an eccentric load (210).
[0012]
Apparatus (100) according to claim 1, characterized in that the first (105) and second (104) appendages are in front of a longitudinal center of gravity of the apparatus (100).
[0013]
Apparatus (100) according to claim 1 characterized by the fact that each of the plurality of appendages (104) is: constructed from a flexible material; injection molded; and integrally coupled to the body (102) at the appendix base (104B).
[0014]
Apparatus (100) according to claim 1, characterized in that the forces of rotation of the eccentric load (210) interact with a resilient characteristic of at least one drive appendage (104) to cause the at least one drive appendix (104) leave a support surface as the device (100) moves in the forward direction.
[0015]
Apparatus (100) according to claim 1 characterized by the fact that a friction coefficient of a portion of at least a subset of the appendages (104) that makes contact with a support surface is sufficient to substantially eliminate slippage in a lateral direction.
[0016]
16. Apparatus (100) according to claim 1, characterized by the fact that the eccentric load (210) is configured to be located towards the front end of the apparatus (100) in relation to actuation appendages (104) , wherein the front end of the apparatus (100) is defined by an end in a direction that the apparatus (100) primarily tends to move as the rotary motor (201) turns the eccentric load (210).
[0017]
Apparatus (100) according to claim 1, characterized in that the plurality of appendages (104) is integrally molded with at least a portion of the body (102).
[0018]
Apparatus (100) according to claim 1 characterized by the fact that at least a subset of the plurality of appendages (104), including the two or more appendages (104), is curved, and a proportion of a radius of curvature of the curved appendages (104) to the appendix length of the appendages (104) is in a range of 2.5 to 20.

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同族专利:

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TWI528988B|2016-04-11|

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CN103182188B|2016-10-19|

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EP2626282A2|2013-08-14|

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RU2014127136A|2016-02-20|

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BR102012006448A2|2018-10-23|

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CA2833757A1|2013-06-30|

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AU2012201317B1|2013-07-18|

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法律状态:
2018-10-23| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|

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2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2020-06-30| B07A| Technical examination (opinion): publication of technical examination (opinion)|

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2020-11-03| B09A| Decision: intention to grant|

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2020-12-29| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 22/03/2012, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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CN201110461296.3A|CN103182188B|2011-12-30|2011-12-30|The climbing robot of vibratory drive|

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CN201110461296.3|2011-12-30|

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